From 2cec2587be926bd4ef42dc8f92177324c05e997a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Aug 2025 09:18:14 -0700 Subject: [PATCH 01/51] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 5b0f1a2eca..3dc2138623 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec +Subproject commit 3dc21386239e3073a623156b75901aa302340d6c From c085b8af19438956c15592828bd082803f43dfaf Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 19 Aug 2025 09:18:32 -0700 Subject: [PATCH 02/51] feedbackd: remove lkas toggle for this release (#36018) remove lkas toggle for this release --- selfdrive/ui/layouts/settings/toggles.py | 10 ---------- selfdrive/ui/qt/offroad/settings.cc | 7 ------- 2 files changed, 17 deletions(-) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index ff0564a61a..58afcec5ef 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -23,10 +23,6 @@ DESCRIPTIONS = { 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "IsMetric": "Display speed in km/h instead of mph.", "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.", - "RecordAudioFeedback": ( - "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " + - "The event will be highlighted in comma connect and the segment will be preserved on your device's storage." - ), } @@ -85,12 +81,6 @@ class TogglesLayout(Widget): self._params.get_bool("RecordAudio"), icon="microphone.png", ), - toggle_item( - "Record Audio Feedback with LKAS button", - DESCRIPTIONS["RecordAudioFeedback"], - self._params.get_bool("RecordAudioFeedback"), - icon="microphone.png", - ), toggle_item( "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png" ), diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 01761295dc..96734d69d9 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -68,13 +68,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/microphone.png", true, }, - { - "RecordAudioFeedback", - tr("Record Audio Feedback with LKAS button"), - tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."), - "../assets/icons/microphone.png", - false, - }, { "IsMetric", tr("Use Metric System"), From 803b54ebdb7ca851c1b246bb150b5b72ccb3ad39 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:09:09 -0700 Subject: [PATCH 03/51] model parser: use check missing for mhp checks (#36020) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/parse_model_outputs.py | 35 ++++++++++++++----------- 2 files changed, 20 insertions(+), 17 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8bc8bf01ab..33da8f02b3 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,7 +116,7 @@ class ModelState: self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.parser = Parser() + self.parser = Parser(ignore_missing=('desired_curvature',)) with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9e1c048735..5812e0b32e 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,9 +22,10 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - if name not in outs and not self.ignore_missing: + missing = name not in outs + if missing and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return name not in outs + return missing def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -84,6 +85,13 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) + def is_mhp(self, outs, name, shape): + if self.check_missing(outs, name): + return False + if outs[name].shape[1] == 2 * shape: + return False + return True + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -94,23 +102,18 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: - self.parse_mdn('lead', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - else: - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) + lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) + self.parse_mdn( + 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + ) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: - self.parse_mdn('plan', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - else: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'desired_curvature' in outs: - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 51314fa9fef0350ed389932c39a30d746e73137f Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:09:59 -0700 Subject: [PATCH 04/51] Revert "model parser: use check missing for mhp checks" (#36022) Revert "model parser: use check missing for mhp checks (#36020)" This reverts commit 803b54ebdb7ca851c1b246bb150b5b72ccb3ad39. --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/parse_model_outputs.py | 35 +++++++++++-------------- 2 files changed, 17 insertions(+), 20 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 33da8f02b3..8bc8bf01ab 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,7 +116,7 @@ class ModelState: self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.parser = Parser(ignore_missing=('desired_curvature',)) + self.parser = Parser() with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..9e1c048735 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,10 +22,9 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - missing = name not in outs - if missing and not self.ignore_missing: + if name not in outs and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return missing + return name not in outs def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -85,13 +84,6 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) - def is_mhp(self, outs, name, shape): - if self.check_missing(outs, name): - return False - if outs[name].shape[1] == 2 * shape: - return False - return True - def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -102,18 +94,23 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) - lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: + self.parse_mdn('lead', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + else: + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) - plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: + self.parse_mdn('plan', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + else: + self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 3d24225cc151732ab8d1501f24e8da3f027b3a64 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:19:00 -0700 Subject: [PATCH 05/51] model parser: use check missing for mhp checks (#36023) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove * forgot this --- selfdrive/modeld/parse_model_outputs.py | 35 ++++++++++++++----------- 1 file changed, 19 insertions(+), 16 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9e1c048735..5812e0b32e 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,9 +22,10 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - if name not in outs and not self.ignore_missing: + missing = name not in outs + if missing and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return name not in outs + return missing def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -84,6 +85,13 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) + def is_mhp(self, outs, name, shape): + if self.check_missing(outs, name): + return False + if outs[name].shape[1] == 2 * shape: + return False + return True + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -94,23 +102,18 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: - self.parse_mdn('lead', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - else: - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) + lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) + self.parse_mdn( + 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + ) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: - self.parse_mdn('plan', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - else: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'desired_curvature' in outs: - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 560c503871b100fa5b2d5c05369d10c40813518a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Aug 2025 11:19:58 -0700 Subject: [PATCH 06/51] new release flow (#36021) * new release flow * Update README.md --- release/README.md | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/release/README.md b/release/README.md index 0ceb765597..266d881d3c 100644 --- a/release/README.md +++ b/release/README.md @@ -3,33 +3,33 @@ ``` ## release checklist -**Go to `devel-staging`** -- [ ] make issue to track release +**Go to staging** +- [ ] make a GitHub issue to track release +- [ ] create release master branch - [ ] update RELEASES.md -- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml -- [ ] update `devel-staging`: `git reset --hard origin/__nightly` +- [ ] bump version on master: `common/version.h` and `RELEASES.md` - [ ] build new userdata partition from `release3-staging` -- [ ] open a pull request from `devel-staging` to `devel` - [ ] post on Discord, tag `@release crew` -**Go to `devel`** -- [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] before merging the pull request, test the following: +Updates to staging: +- [ ] either rebase on master or cherry-pick changes +- [ ] run this to update: `BRANCH=devel-staging release/build_devel.sh` + +**Go to release** +- [ ] before going to release, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release - [ ] fresh install with `openpilot-test.comma.ai` - [ ] drive on fresh install - [ ] no submodules or LFS - [ ] check sentry, MTBF, etc. - - [ ] stress test in production - -**Go to `release3`** + - [ ] stress test passes in production - [ ] publish the blog post - [ ] `git reset --hard origin/release3-staging` - [ ] tag the release: `git tag v0.X.X && git push origin v0.X.X` - [ ] create GitHub release - [ ] final test install on `openpilot.comma.ai` - [ ] update factory provisioning -- [ ] close out milestone +- [ ] close out milestone and issue - [ ] post on Discord, X, etc. ``` From d097a0c201d407f61ccdb18058919d05dccea3ac Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 11:35:22 -0700 Subject: [PATCH 07/51] model parser: fix lead mhp out shape (#36024) * model parser: fix lead mhp out shape * fix for real --- selfdrive/modeld/parse_model_outputs.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..038f51ca9c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -104,16 +104,15 @@ class Parser: self.parse_binary_crossentropy('lead_prob', outs) lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \ + (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 09aa21390dda71c49cf82df9fd9455f927f0db3c Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 19 Aug 2025 15:38:55 -0400 Subject: [PATCH 08/51] Honda: Adding support for Honda City (#36026) * bump opendbc * release notes * regen CARS.md * bump opendbc correctly this time --- RELEASES.md | 1 + docs/CARS.md | 6 ++++-- opendbc_repo | 2 +- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index cb7274e827..dacf0eaa17 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.10.1 (2025-09-08) ======================== * Record driving feedback using LKAS button +* Honda City 2023 support thanks to drFritz! Version 0.10.0 (2025-08-05) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index fcb87236c8..7269f25737 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 319 Supported Cars +# 321 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -76,10 +76,12 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|City (Brazil only) 2023|All|openpilot available[1](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 4b203ff5d1..43006b9a41 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4b203ff5d1ad867de127de6b27382ba73e6e31a7 +Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0 From 6005b12f940b96f14ccf87fb14c37a9c2fca8948 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 15:04:17 -0700 Subject: [PATCH 09/51] format logreader --- tools/lib/logreader.py | 2 ++ tools/lib/route.py | 7 +++---- tools/lib/url_file.py | 18 ++++++++++-------- 3 files changed, 15 insertions(+), 12 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index bedafb8566..833f9825bb 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -40,6 +40,7 @@ def save_log(dest, log_msgs, compress=True): with open(dest, "wb") as f: f.write(dat) + def decompress_stream(data: bytes): dctx = zstd.ZstdDecompressor() decompressed_data = b"" @@ -353,6 +354,7 @@ class LogReader: def time_series(self): return msgs_to_time_series(self) + if __name__ == "__main__": import codecs diff --git a/tools/lib/route.py b/tools/lib/route.py index 882585a151..1fc26fb996 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -231,7 +231,6 @@ class RouteName: def __str__(self) -> str: return self._canonical_name - class SegmentName: # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances # of this class instead of manually constructing a segment name (use canonical_name prop instead) @@ -252,7 +251,7 @@ class SegmentName: @property def canonical_name(self) -> str: return self._canonical_name - #TODO should only use one name + # TODO should only use one name @property def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}" @@ -283,7 +282,7 @@ class SegmentName: @staticmethod def from_file_name(file_name): # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2 - dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1] + dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1] return SegmentName(dongle_id + "|" + route_name + "--" + segment_num) @staticmethod @@ -304,6 +303,7 @@ class SegmentName: dongle_id, route_name, segment_num = prefix.split("/") return SegmentName(dongle_id + "|" + route_name + "--" + segment_num) + @cache def get_max_seg_number_cached(sr: 'SegmentRange') -> int: try: @@ -365,4 +365,3 @@ class SegmentRange: def __repr__(self) -> str: return self.__str__() - diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 204726363d..e80ba1399d 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -9,12 +9,14 @@ from urllib3.util import Timeout from openpilot.common.file_helpers import atomic_write_in_dir from openpilot.system.hardware.hw import Paths + # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K logging.getLogger("urllib3").setLevel(logging.WARNING) + def hash_256(link: str) -> str: return sha256((link.split("?")[0]).encode('utf-8')).hexdigest() @@ -24,7 +26,7 @@ class URLFileException(Exception): class URLFile: - _pool_manager: PoolManager|None = None + _pool_manager: PoolManager | None = None @staticmethod def reset() -> None: @@ -33,16 +35,16 @@ class URLFile: @staticmethod def pool_manager() -> PoolManager: if URLFile._pool_manager is None: - socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),] + socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)] retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504]) URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries) return URLFile._pool_manager - def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None): + def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None): self._url = url self._timeout = Timeout(connect=timeout, read=timeout) self._pos = 0 - self._length: int|None = None + self._length: int | None = None self._debug = debug # True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0")) @@ -58,7 +60,7 @@ class URLFile: def __exit__(self, exc_type, exc_value, traceback) -> None: pass - def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse: + def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse: return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers) def get_length_online(self) -> int: @@ -85,7 +87,7 @@ class URLFile: file_length.write(str(self._length)) return self._length - def read(self, ll: int|None=None) -> bytes: + def read(self, ll: int | None = None) -> bytes: if self._force_download: return self.read_aux(ll=ll) @@ -117,7 +119,7 @@ class URLFile: self._pos = file_end return response - def read_aux(self, ll: int|None=None) -> bytes: + def read_aux(self, ll: int | None = None) -> bytes: download_range = False headers = {} if self._pos != 0 or ll is not None: @@ -152,7 +154,7 @@ class URLFile: self._pos += len(ret) return ret - def seek(self, pos:int) -> None: + def seek(self, pos: int) -> None: self._pos = pos @property From 927548621be1be0c2c9063868b93d1f5020904de Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 15:37:39 -0700 Subject: [PATCH 10/51] update to latest userdata partition (#36027) bump --- system/hardware/tici/all-partitions.json | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index e49f93a066..5891e2748a 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12.img.xz", - "hash": "59e1bb2606b65293721dd89bcdc8d0c5cae47718c213eb40f235149aa5a408ae", - "hash_raw": "ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz", + "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac", + "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "40b5e666ec137a863178b51a7947e3bb76fe9259584d84e6a66361fabced3da5" + "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33.img.xz", - "hash": "e555a29c3ccb547ed840085c052cd1c6126c32d5c6dafe1712f593ae631be190", - "hash_raw": "2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz", + "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116", + "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "f5bc368dbe52ac7800634f74b1fd764fc3b6e68337984f40fd59222b1276d9f2" + "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b.img.xz", - "hash": "f5dfbe1dcba25b9a1920259bc89f52b5e406519539ff0112d5469fff3f1b6dba", - "hash_raw": "6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz", + "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9", + "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "b8f447f0ea40faae7292d3a0dc380d194caab6ec3f5007eda5661f2aa4d2f4ab" + "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507" } ] \ No newline at end of file From 5ec9aee2166ec2fefd15128360e4ca26180e6afb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 15:39:44 -0700 Subject: [PATCH 11/51] File sourcing: simplify return type (#36028) * rm str | none pattern * clean up * more clean up * stash * Revert "stash" This reverts commit 3e2472160cc97e9d11922137757d9ef942a0312d. * fix da prints * fix cmt --- tools/lib/logreader.py | 43 +++++++++++++++++++----------------------- 1 file changed, 19 insertions(+), 24 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 833f9825bb..50e3b9dc7a 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -140,9 +140,8 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogPath = str | None LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, LogPath]] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] InternalUnavailableException = Exception("Internal source not available") @@ -151,17 +150,17 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: route = Route(sr.route_name) # comma api will have already checked if the file exists if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs} + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs} + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]: +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: if not internal_source_available(endpoint_url): raise InternalUnavailableException @@ -171,11 +170,11 @@ def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, end return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) @@ -183,21 +182,19 @@ def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, LogPath]: +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, LogPath] = {} + valid_files: dict[int, str] = {} for seg_idx, urls in files.items(): if isinstance(urls, str): urls = [urls] - # Add first valid file URL or None + # Add first valid file URL for url in urls: if file_exists(url): valid_files[seg_idx] = url break - else: - valid_files[seg_idx] = None return valid_files @@ -220,37 +217,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None. # This function only returns when we've sourced all files, or throws an exception - valid_files: dict[int, LogPath] = {} + valid_files: dict[int, str] = {} for fn in try_fns: for source in sources: try: files = source(sr, needed_seg_idxs, fn) # Build a dict of valid files - for idx, f in files.items(): - if valid_files.get(idx) is None: - valid_files[idx] = f + valid_files |= files # Don't check for segment files that have already been found - needed_seg_idxs = [idx for idx in needed_seg_idxs if valid_files.get(idx) is None] + needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files] # We've found all files, return them - if all(f is not None for f in valid_files.values()): + if len(needed_seg_idxs) == 0: return cast(list[str], list(valid_files.values())) except Exception as e: exceptions[source.__name__] = e if fn == try_fns[0]: - missing_logs = list(valid_files.values()).count(None) + missing_logs = len(needed_seg_idxs) if mode == ReadMode.AUTO: - cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...") + cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...") elif mode == ReadMode.AUTO_INTERACTIVE: - if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y": + if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y": break - missing_logs = list(valid_files.values()).count(None) - raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " + + missing_logs = len(needed_seg_idxs) + raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " + "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" + "Exceptions for sources:\n - " + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()])) From 18b7ddef8fb8e6e0f1dbb2f8a7799e423d0bd208 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 19 Aug 2025 16:25:13 -0700 Subject: [PATCH 12/51] File sourcing: Not all files are logs (#36025) * Not all files are logs * more refactor * linting ok * fix tests * import exception * whoops forgot to git add * fix --------- Co-authored-by: Shane Smiskol --- tools/lib/file_sources.py | 57 +++++++++++++++++++++++++++++ tools/lib/logreader.py | 61 +++---------------------------- tools/lib/tests/test_logreader.py | 5 ++- 3 files changed, 65 insertions(+), 58 deletions(-) create mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py new file mode 100755 index 0000000000..cb7bf15114 --- /dev/null +++ b/tools/lib/file_sources.py @@ -0,0 +1,57 @@ +from collections.abc import Callable + +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName + +# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) +FileNames = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 50e3b9dc7a..8d84cdbd5d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,16 +12,15 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Callable, Iterable, Iterator +from collections.abc import Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source +from openpilot.tools.lib.route import SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -140,65 +139,15 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files - - +# TODO this should apply to camera files as well def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 7a70ad6aab..6e508967b9 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,7 +10,8 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode +from openpilot.tools.lib.log_sources import comma_api_source, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -90,7 +91,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From dd5f5fdb98fed20d37cde4b9c786146814b00b58 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 17:11:29 -0700 Subject: [PATCH 13/51] ci: show all unit test failures (#36029) * testci * fix * Revert "testci" This reverts commit b62a0aacb604fc0fd39c6e50a726b686979b9880. --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2d94a39260..fa462166b0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -162,7 +162,7 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - $PYTEST --collect-only -m 'not slow' &> /dev/null && \ + $PYTEST --collect-only -m 'not slow' && \ MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ From 3570022b9a7e90c98a0188d5b7f7f2e14710af61 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 17:11:53 -0700 Subject: [PATCH 14/51] Revert "File sourcing: Not all files are logs (#36025)" This reverts commit 18b7ddef8fb8e6e0f1dbb2f8a7799e423d0bd208. --- tools/lib/file_sources.py | 57 ----------------------------- tools/lib/logreader.py | 61 ++++++++++++++++++++++++++++--- tools/lib/tests/test_logreader.py | 5 +-- 3 files changed, 58 insertions(+), 65 deletions(-) delete mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py deleted file mode 100755 index cb7bf15114..0000000000 --- a/tools/lib/file_sources.py +++ /dev/null @@ -1,57 +0,0 @@ -from collections.abc import Callable - -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName - -# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) -FileNames = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 8d84cdbd5d..50e3b9dc7a 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,15 +12,16 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Iterable, Iterator +from collections.abc import Callable, Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source -from openpilot.tools.lib.route import SegmentRange, FileName +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -139,15 +140,65 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user +LogFileName = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + class LogsUnavailable(Exception): pass +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -# TODO this should apply to camera files as well +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files + + def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 6e508967b9..7a70ad6aab 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,8 +10,7 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode -from openpilot.tools.lib.log_sources import comma_api_source, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -91,7 +90,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From 22e79479d257bc3fca5692a82dc9b570db23c044 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:39:27 -0700 Subject: [PATCH 15/51] unit tests: add comment (#36030) * remove collection * test * back * wtf it actually saves 10s?! * ah that makes sense * rm * ? * ugh * qq * bc --- .github/workflows/selfdrive_tests.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fa462166b0..aad772757d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -162,7 +162,8 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - $PYTEST --collect-only -m 'not slow' && \ + # Pre-compile Python bytecode so each pytest worker doesn't need to + $PYTEST --collect-only -m 'not slow' -qq && \ MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ From 60c34a083791e96b0a244dc56decb1423e080da0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:58:47 -0700 Subject: [PATCH 16/51] LogReader: run source test (#36031) run "slow" test --- tools/lib/tests/test_logreader.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 7a70ad6aab..a9f7b2352d 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -40,7 +40,7 @@ def setup_source_scenario(mocker, is_internal=False): else: internal_source_mock.side_effect = InternalUnavailableException - openpilotci_source_mock.return_value = {3: None} + openpilotci_source_mock.return_value = {} comma_api_source_mock.return_value = {3: QLOG_FILE} yield @@ -208,13 +208,12 @@ class TestLogReader: assert qlog_len == log_len @pytest.mark.parametrize("is_internal", [True, False]) - @pytest.mark.slow def test_auto_source_scenarios(self, mocker, is_internal): lr = LogReader(QLOG_FILE) qlog_len = len(list(lr)) with setup_source_scenario(mocker, is_internal=is_internal): - lr = LogReader(f"{TEST_ROUTE}/0/q") + lr = LogReader(f"{TEST_ROUTE}/3/q") log_len = len(list(lr)) assert qlog_len == log_len From 870d19f33de194679e060b49f7a970c3cfaa3836 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:59:50 -0700 Subject: [PATCH 17/51] Reapply "File sourcing: Not all files are logs (#36025)" This reverts commit 3570022b9a7e90c98a0188d5b7f7f2e14710af61. Fix test --- tools/lib/file_sources.py | 57 +++++++++++++++++++++++++++++ tools/lib/logreader.py | 61 +++---------------------------- tools/lib/tests/test_logreader.py | 5 ++- 3 files changed, 65 insertions(+), 58 deletions(-) create mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py new file mode 100755 index 0000000000..cb7bf15114 --- /dev/null +++ b/tools/lib/file_sources.py @@ -0,0 +1,57 @@ +from collections.abc import Callable + +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName + +# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) +FileNames = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 50e3b9dc7a..8d84cdbd5d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,16 +12,15 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Callable, Iterable, Iterator +from collections.abc import Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source +from openpilot.tools.lib.route import SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -140,65 +139,15 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files - - +# TODO this should apply to camera files as well def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index a9f7b2352d..8d0870171f 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,7 +10,8 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode +from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -90,7 +91,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From d0069c136b4302c6978717abc6e3859efeea3a93 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:19:56 -0700 Subject: [PATCH 18/51] raylib: fix experimental mode path gradient (#36033) * fix! * this is enough to fix the broken colors * clean up * fix * use last colors -- need this so we don't have to always pass perfect gradient * clean up * clean up * clean up --- selfdrive/ui/onroad/model_renderer.py | 16 ++++++++-------- system/ui/lib/shader_polygon.py | 4 ++++ 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 4439141a40..684f2a8453 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -187,9 +187,9 @@ class ModelRenderer(Widget): self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False ) - self._update_experimental_gradient(self._rect.height) + self._update_experimental_gradient() - def _update_experimental_gradient(self, height): + def _update_experimental_gradient(self): """Pre-calculate experimental mode gradient colors""" if not self._experimental_mode: return @@ -201,14 +201,14 @@ class ModelRenderer(Widget): i = 0 while i < max_len: - track_idx = max_len - i - 1 # flip idx to start from bottom right - track_y = self._path.projected_points[track_idx][1] - if track_y < 0 or track_y > height: + # Some points are out of frame + track_y = self._path.projected_points[i][1] + if track_y < self._rect.y or track_y > self._rect.height: i += 1 continue - # Calculate color based on acceleration - lin_grad_point = (height - track_y) / height + # Calculate color based on acceleration (0 is bottom, 1 is top) + lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height # speed up: 120, slow down: 0 path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) @@ -280,7 +280,7 @@ class ModelRenderer(Widget): if self._experimental_mode: # Draw with acceleration coloring - if len(self._exp_gradient['colors']) > 2: + if len(self._exp_gradient['colors']) > 1: draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient) else: draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30)) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index cfde81c554..39bc0d5aa4 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) { float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0); if (gradientColorCount <= 1) return gradientColors[0]; + + // handle t before first / after last stop + if (t <= gradientStops[0]) return gradientColors[0]; + if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1]; for (int i = 0; i < gradientColorCount - 1; i++) { if (t >= gradientStops[i] && t <= gradientStops[i+1]) { float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]); From 63441c048cb59178778aa670e17973324d2ed0d9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 22:30:48 -0700 Subject: [PATCH 19/51] test_onroad: relax first fid assertion (#36032) * fid * test * Revert "test" This reverts commit 38e6635dd0b0b9fb9c08bcc3a74b9283207b0c2f. * r * Revert "r" This reverts commit 4037a321f89af137a645345a0fffb73da6071c72. --- selfdrive/test/test_onroad.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 935da99c10..0149653c84 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -333,20 +333,18 @@ class TestOnroad: assert np.all(eof_sof_diff > 0) assert np.all(eof_sof_diff < 50*1e6) - first_fid = {c: min(self.ts[c]['frameId']) for c in cams} + first_fid = {min(self.ts[c]['frameId']) for c in cams} + assert len(first_fid) == 1, "Cameras don't start on same frame ID" if cam.endswith('CameraState'): # camerad guarantees that all cams start on frame ID 0 # (note loggerd also needs to start up fast enough to catch it) - assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0" - else: - # encoder guarantees all cams start on the same frame ID - assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID" + assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high" # we don't do a full segment rotation, so these might not match exactly - last_fid = {c: max(self.ts[c]['frameId']) for c in cams} - assert max(last_fid.values()) - min(last_fid.values()) < 10 + last_fid = {max(self.ts[c]['frameId']) for c in cams} + assert max(last_fid) - min(last_fid) < 10 - start, end = min(first_fid.values()), min(last_fid.values()) + start, end = min(first_fid), min(last_fid) for i in range(end-start): ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams} diff = (max(ts.values()) - min(ts.values())) From 8320934d91b78ddea2c4d714dc29e3d4c72dd196 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:33:07 -0700 Subject: [PATCH 20/51] raylib: cleanup experimental mode gradient color calculations (#36035) * dfebug * simplify * come on man --- selfdrive/ui/onroad/model_renderer.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 684f2a8453..f81b0be66c 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -211,12 +211,11 @@ class ModelRenderer(Widget): lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height # speed up: 120, slow down: 0 - path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) - path_hue = int(path_hue * 100 + 0.5) / 100 + path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120) saturation = min(abs(self._acceleration_x[i] * 1.5), 1) - lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62) - alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0) + lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62]) + alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0]) # Use HSL to RGB conversion color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha) @@ -409,13 +408,6 @@ class ModelRenderer(Widget): return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32) - @staticmethod - def _map_val(x, x0, x1, y0, y1): - x = np.clip(x, x0, x1) - ra = x1 - x0 - rb = y1 - y0 - return (x - x0) * rb / ra + y0 if ra != 0 else y0 - @staticmethod def _hsla_to_color(h, s, l, a): rgb = colorsys.hls_to_rgb(h, l, s) From 2ff707d82f53b01811ad184fbfc873c664188cc3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:37:55 -0700 Subject: [PATCH 21/51] Fix gradient point ignore --- selfdrive/ui/onroad/model_renderer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index f81b0be66c..932773755d 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -201,9 +201,9 @@ class ModelRenderer(Widget): i = 0 while i < max_len: - # Some points are out of frame + # Some points (screen space) are out of frame (rect space) track_y = self._path.projected_points[i][1] - if track_y < self._rect.y or track_y > self._rect.height: + if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height): i += 1 continue From 154f65533554e7b55b6d9abdf22d57e5035b1bc5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Aug 2025 15:44:13 -0700 Subject: [PATCH 22/51] update release checklist --- release/README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/release/README.md b/release/README.md index 266d881d3c..170a2d65ca 100644 --- a/release/README.md +++ b/release/README.md @@ -3,7 +3,7 @@ ``` ## release checklist -**Go to staging** +### Go to staging - [ ] make a GitHub issue to track release - [ ] create release master branch - [ ] update RELEASES.md @@ -11,11 +11,12 @@ - [ ] build new userdata partition from `release3-staging` - [ ] post on Discord, tag `@release crew` -Updates to staging: -- [ ] either rebase on master or cherry-pick changes -- [ ] run this to update: `BRANCH=devel-staging release/build_devel.sh` +Updating staging: +1. either rebase on master or cherry-pick changes +2. run this to update: `BRANCH=devel-staging release/build_devel.sh` +3. build new userdata partition from `release3-staging` -**Go to release** +### Go to release - [ ] before going to release, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release From b4cc4ea8e2dc0c7cae0fe5407b868a71dc1c1af9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Aug 2025 15:44:23 -0700 Subject: [PATCH 23/51] Update README.md --- release/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release/README.md b/release/README.md index 170a2d65ca..fb651fa05a 100644 --- a/release/README.md +++ b/release/README.md @@ -14,7 +14,7 @@ Updating staging: 1. either rebase on master or cherry-pick changes 2. run this to update: `BRANCH=devel-staging release/build_devel.sh` -3. build new userdata partition from `release3-staging` +3. build new userdata partition from `release3-staging` ### Go to release - [ ] before going to release, test the following: From cd9ec6b240abd6e2a2aa4afc29840180a332147f Mon Sep 17 00:00:00 2001 From: "kostas.pats" <35031825+kostas1507@users.noreply.github.com> Date: Wed, 20 Aug 2025 22:45:05 +0000 Subject: [PATCH 24/51] Compressed vipc name pick (#36036) * add custom vipc server name argument * Update compressed_vipc.py * add custom vipc server name argument + fixes * Update compressed_vipc.py --- tools/camerastream/compressed_vipc.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index b25b8b0cb7..4dc74272ea 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): class CompressedVipc: - def __init__(self, addr, vision_streams, nvidia=False, debug=False): + def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False): print("getting frame sizes") os.environ["ZMQ"] = "1" messaging.reset_context() @@ -117,7 +117,7 @@ class CompressedVipc: os.environ.pop("ZMQ") messaging.reset_context() - self.vipc_server = VisionIpcServer("camerad") + self.vipc_server = VisionIpcServer(server_name) for vst in vision_streams: ed = sm[ENCODE_SOCKETS[vst]] self.vipc_server.create_buffers(vst, 4, ed.width, ed.height) @@ -144,6 +144,7 @@ if __name__ == "__main__": parser.add_argument("addr", help="Address of comma three") parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg") parser.add_argument("--cams", default="0,1,2", help="Cameras to decode") + parser.add_argument("--server", default="camerad", help="choose vipc server name") parser.add_argument("--silent", action="store_true", help="Suppress debug output") args = parser.parse_args() @@ -154,7 +155,7 @@ if __name__ == "__main__": ] vsts = [vision_streams[int(x)] for x in args.cams.split(",")] - cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent)) + cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent)) # register exit handler signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill()) From cea3572b7416fd7589a85e9572fb620976e7b163 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Aug 2025 16:54:15 -0700 Subject: [PATCH 25/51] raylib: fix mouse scale for Widgets (#36040) fix mouse scale for mousestate --- system/ui/lib/application.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 718bf036fa..3f433e1fcb 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -67,7 +67,8 @@ class MouseEvent(NamedTuple): class MouseState: - def __init__(self): + def __init__(self, scale: float = 1.0): + self._scale = scale self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS @@ -102,8 +103,10 @@ class MouseState: def _handle_mouse_event(self): for slot in range(MAX_TOUCH_SLOTS): mouse_pos = rl.get_touch_position(slot) + x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x + y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y ev = MouseEvent( - MousePos(mouse_pos.x, mouse_pos.y), + MousePos(x, y), slot, rl.is_mouse_button_pressed(slot), rl.is_mouse_button_released(slot), @@ -133,7 +136,7 @@ class GuiApplication: self._trace_log_callback = None self._modal_overlay = ModalOverlay() - self._mouse = MouseState() + self._mouse = MouseState(self._scale) self._mouse_events: list[MouseEvent] = [] # Debug variables From c0a74f7a20da6375d710b92037bbf6143fe3822a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Aug 2025 01:55:01 -0700 Subject: [PATCH 26/51] raylib: change default tethering password --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 178bbec43e..4cb741bc95 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 TETHERING_IP_ADDRESS = "192.168.43.1" -DEFAULT_TETHERING_PASSWORD = "12345678" +DEFAULT_TETHERING_PASSWORD = "swagswagcomma" # NetworkManager device states From ae3b74245f0685e70e5e76c193e99f7f175c1db0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 09:08:40 -0700 Subject: [PATCH 27/51] sgo is just o now! --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index dcf645ff61..f3af58f85b 100644 --- a/README.md +++ b/README.md @@ -56,7 +56,6 @@ We have detailed instructions for [how to install the harness and device in a ca | `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | -| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. | To start developing openpilot ------ From ef2bb7f2fc07f4b94709cee752386be815eea8aa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 20:06:12 -0700 Subject: [PATCH 28/51] release: build orphaned branch (#36047) --- .github/workflows/release.yaml | 2 +- .github/workflows/selfdrive_tests.yaml | 2 +- release/{build_devel.sh => build_stripped.sh} | 23 ++++++++----------- 3 files changed, 11 insertions(+), 16 deletions(-) rename release/{build_devel.sh => build_stripped.sh} (83%) diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 4065b0ef3e..0f4ce6cb3a 100644 --- a/.github/workflows/release.yaml +++ b/.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 diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index aad772757d..cdafbbfede 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.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 diff --git a/release/build_devel.sh b/release/build_stripped.sh similarity index 83% rename from release/build_devel.sh rename to release/build_stripped.sh index c4ef280258..6f1a568c25 100755 --- a/release/build_devel.sh +++ b/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" From 7ed8abb66c9b3fbbf93e35545cfac56f8d4013b5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 20:11:50 -0700 Subject: [PATCH 29/51] camerad: garbage collect CL files (#36046) --- system/camerad/sensors/ar0231_cl.h | 34 ----------------- system/camerad/sensors/os04c10_cl.h | 58 ----------------------------- system/camerad/sensors/ox03c10_cl.h | 47 ----------------------- 3 files changed, 139 deletions(-) delete mode 100644 system/camerad/sensors/ar0231_cl.h delete mode 100644 system/camerad/sensors/os04c10_cl.h delete mode 100644 system/camerad/sensors/ox03c10_cl.h diff --git a/system/camerad/sensors/ar0231_cl.h b/system/camerad/sensors/ar0231_cl.h deleted file mode 100644 index c79242543b..0000000000 --- a/system/camerad/sensors/ar0231_cl.h +++ /dev/null @@ -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 diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h deleted file mode 100644 index 3b5cf88839..0000000000 --- a/system/camerad/sensors/os04c10_cl.h +++ /dev/null @@ -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 diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h deleted file mode 100644 index c8cec7cf8a..0000000000 --- a/system/camerad/sensors/ox03c10_cl.h +++ /dev/null @@ -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 From 2b46e1450ab9ce42aae7f531924c00db7453c7a8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 23 Aug 2025 00:49:19 -0700 Subject: [PATCH 30/51] raylib: simplify network state (#36049) * wtf * we never disabled unsupported networks * dont be a hero * i hate mypy * fix --- system/ui/widgets/network.py | 126 +++++++++++++++-------------------- 1 file changed, 55 insertions(+), 71 deletions(-) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 4eac1214c2..0bb759a919 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,17 +1,17 @@ -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.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 @@ -27,43 +27,20 @@ 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): super().__init__() - self.state: UIState = StateIdle() + self.state: UIState = UIState.IDLE + self._state_network: NetworkInfo | 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) @@ -93,17 +70,16 @@ class WifiManagerUI(Widget): 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) + 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(NetworkInfo, 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: NetworkInfo, result: int): if result == 1: @@ -113,13 +89,13 @@ 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) @@ -147,17 +123,18 @@ class WifiManagerUI(Widget): 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) @@ -181,13 +158,16 @@ 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): """Draw the status icon based on network's connection state""" @@ -212,14 +192,16 @@ class WifiManagerUI(Widget): 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) + 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) + self.state = UIState.FORGETTING + self._state_network = network network.is_saved = False self.wifi_manager.forget_connection(network.ssid) @@ -236,22 +218,24 @@ class WifiManagerUI(Widget): with self._lock: network = next((n for n in self._networks if n.ssid == ssid), None) if network: - self.state = StateNeedsAuth(network, True) + 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() + 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() + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE def main(): From dd7de180ea9ee95b1440788f6e018dc2cb82540f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 23 Aug 2025 04:56:00 -0700 Subject: [PATCH 31/51] raylib: cache API token (#36050) * cache with time * safety * rm * clean up --- selfdrive/ui/lib/prime_state.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index b6c0d88469..da2ff899dd 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -2,12 +2,15 @@ from enum import IntEnum import os import threading import time +from functools import lru_cache from openpilot.common.api import Api, api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID +TOKEN_EXPIRY_HOURS = 2 + class PrimeType(IntEnum): UNKNOWN = -2, @@ -20,6 +23,12 @@ class PrimeType(IntEnum): PURPLE = 5, +@lru_cache(maxsize=1) +def get_token(dongle_id: str, t: int): + print('getting token') + return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) + + class PrimeState: FETCH_INTERVAL = 5.0 # seconds between API calls API_TIMEOUT = 10.0 # seconds for API requests @@ -49,13 +58,15 @@ class PrimeState: return try: - identity_token = Api(dongle_id).get_token() + identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) if response.status_code == 200: data = response.json() is_paired = data.get("is_paired", False) prime_type = data.get("prime_type", 0) self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED) + elif response.status_code == 401: + get_token.cache_clear() except Exception as e: cloudlog.error(f"Failed to fetch prime status: {e}") From b501ad4d5103887fd1bc9c8a02bcfc6d1bbf80ce Mon Sep 17 00:00:00 2001 From: Comma Device Date: Sun, 24 Aug 2025 00:48:54 +0000 Subject: [PATCH 32/51] nice encoder debugging script --- system/loggerd/tests/vidc_debug.sh | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100755 system/loggerd/tests/vidc_debug.sh diff --git a/system/loggerd/tests/vidc_debug.sh b/system/loggerd/tests/vidc_debug.sh new file mode 100755 index 0000000000..7471f2ab08 --- /dev/null +++ b/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 From aea467ff02ca68988d0e82824e9ec18fd5c459f5 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 25 Aug 2025 11:43:49 -0700 Subject: [PATCH 33/51] [bot] Update Python packages (#36053) * Update Python packages * bump --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- tinygrad_repo | 2 +- uv.lock | 194 ++++++++++++----------- 4 files changed, 104 insertions(+), 96 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 43006b9a41..0fe56bc289 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0 +Subproject commit 0fe56bc289d72d2f278e9c085f2ada6ecb13e688 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a4297096c0..8e4ff1e2a8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6d3219bca9f66a229b38a5382d301a92b0147edb \ No newline at end of file +209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file diff --git a/tinygrad_repo b/tinygrad_repo index c30a113b2a..e146418f65 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1 +Subproject commit e146418f6566301ffe8ebea093c0081409241c8d diff --git a/uv.lock b/uv.lock index 7cfaceed97..7010cdfb83 100644 --- a/uv.lock +++ b/uv.lock @@ -763,40 +763,48 @@ wheels = [ [[package]] name = "lxml" -version = "6.0.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/c5/ed/60eb6fa2923602fba988d9ca7c5cdbd7cf25faa795162ed538b527a35411/lxml-6.0.0.tar.gz", hash = "sha256:032e65120339d44cdc3efc326c9f660f5f7205f3a535c1fdbf898b29ea01fb72", size = 4096938, upload-time = "2025-06-26T16:28:19.373Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/7c/23/828d4cc7da96c611ec0ce6147bbcea2fdbde023dc995a165afa512399bbf/lxml-6.0.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:4ee56288d0df919e4aac43b539dd0e34bb55d6a12a6562038e8d6f3ed07f9e36", size = 8438217, upload-time = "2025-06-26T16:25:34.349Z" }, - { url = "https://files.pythonhosted.org/packages/f1/33/5ac521212c5bcb097d573145d54b2b4a3c9766cda88af5a0e91f66037c6e/lxml-6.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b8dd6dd0e9c1992613ccda2bcb74fc9d49159dbe0f0ca4753f37527749885c25", size = 4590317, upload-time = "2025-06-26T16:25:38.103Z" }, - { url = "https://files.pythonhosted.org/packages/2b/2e/45b7ca8bee304c07f54933c37afe7dd4d39ff61ba2757f519dcc71bc5d44/lxml-6.0.0-cp311-cp311-manylinux2010_i686.manylinux2014_i686.manylinux_2_12_i686.manylinux_2_17_i686.whl", hash = "sha256:d7ae472f74afcc47320238b5dbfd363aba111a525943c8a34a1b657c6be934c3", size = 5221628, upload-time = "2025-06-26T16:25:40.878Z" }, - { url = "https://files.pythonhosted.org/packages/32/23/526d19f7eb2b85da1f62cffb2556f647b049ebe2a5aa8d4d41b1fb2c7d36/lxml-6.0.0-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:5592401cdf3dc682194727c1ddaa8aa0f3ddc57ca64fd03226a430b955eab6f6", size = 4949429, upload-time = "2025-06-28T18:47:20.046Z" }, - { url = "https://files.pythonhosted.org/packages/ac/cc/f6be27a5c656a43a5344e064d9ae004d4dcb1d3c9d4f323c8189ddfe4d13/lxml-6.0.0-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:58ffd35bd5425c3c3b9692d078bf7ab851441434531a7e517c4984d5634cd65b", size = 5087909, upload-time = "2025-06-28T18:47:22.834Z" }, - { url = "https://files.pythonhosted.org/packages/3b/e6/8ec91b5bfbe6972458bc105aeb42088e50e4b23777170404aab5dfb0c62d/lxml-6.0.0-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f720a14aa102a38907c6d5030e3d66b3b680c3e6f6bc95473931ea3c00c59967", size = 5031713, upload-time = "2025-06-26T16:25:43.226Z" }, - { url = "https://files.pythonhosted.org/packages/33/cf/05e78e613840a40e5be3e40d892c48ad3e475804db23d4bad751b8cadb9b/lxml-6.0.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:c2a5e8d207311a0170aca0eb6b160af91adc29ec121832e4ac151a57743a1e1e", size = 5232417, upload-time = "2025-06-26T16:25:46.111Z" }, - { url = "https://files.pythonhosted.org/packages/ac/8c/6b306b3e35c59d5f0b32e3b9b6b3b0739b32c0dc42a295415ba111e76495/lxml-6.0.0-cp311-cp311-manylinux_2_31_armv7l.whl", hash = "sha256:2dd1cc3ea7e60bfb31ff32cafe07e24839df573a5e7c2d33304082a5019bcd58", size = 4681443, upload-time = "2025-06-26T16:25:48.837Z" }, - { url = "https://files.pythonhosted.org/packages/59/43/0bd96bece5f7eea14b7220476835a60d2b27f8e9ca99c175f37c085cb154/lxml-6.0.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:2cfcf84f1defed7e5798ef4f88aa25fcc52d279be731ce904789aa7ccfb7e8d2", size = 5074542, upload-time = "2025-06-26T16:25:51.65Z" }, - { url = "https://files.pythonhosted.org/packages/e2/3d/32103036287a8ca012d8518071f8852c68f2b3bfe048cef2a0202eb05910/lxml-6.0.0-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:a52a4704811e2623b0324a18d41ad4b9fabf43ce5ff99b14e40a520e2190c851", size = 4729471, upload-time = "2025-06-26T16:25:54.571Z" }, - { url = "https://files.pythonhosted.org/packages/ca/a8/7be5d17df12d637d81854bd8648cd329f29640a61e9a72a3f77add4a311b/lxml-6.0.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:c16304bba98f48a28ae10e32a8e75c349dd742c45156f297e16eeb1ba9287a1f", size = 5256285, upload-time = "2025-06-26T16:25:56.997Z" }, - { url = "https://files.pythonhosted.org/packages/cd/d0/6cb96174c25e0d749932557c8d51d60c6e292c877b46fae616afa23ed31a/lxml-6.0.0-cp311-cp311-win32.whl", hash = "sha256:f8d19565ae3eb956d84da3ef367aa7def14a2735d05bd275cd54c0301f0d0d6c", size = 3612004, upload-time = "2025-06-26T16:25:59.11Z" }, - { url = "https://files.pythonhosted.org/packages/ca/77/6ad43b165dfc6dead001410adeb45e88597b25185f4479b7ca3b16a5808f/lxml-6.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:b2d71cdefda9424adff9a3607ba5bbfc60ee972d73c21c7e3c19e71037574816", size = 4003470, upload-time = "2025-06-26T16:26:01.655Z" }, - { url = "https://files.pythonhosted.org/packages/a0/bc/4c50ec0eb14f932a18efc34fc86ee936a66c0eb5f2fe065744a2da8a68b2/lxml-6.0.0-cp311-cp311-win_arm64.whl", hash = "sha256:8a2e76efbf8772add72d002d67a4c3d0958638696f541734304c7f28217a9cab", size = 3682477, upload-time = "2025-06-26T16:26:03.808Z" }, - { url = "https://files.pythonhosted.org/packages/89/c3/d01d735c298d7e0ddcedf6f028bf556577e5ab4f4da45175ecd909c79378/lxml-6.0.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:78718d8454a6e928470d511bf8ac93f469283a45c354995f7d19e77292f26108", size = 8429515, upload-time = "2025-06-26T16:26:06.776Z" }, - { url = "https://files.pythonhosted.org/packages/06/37/0e3eae3043d366b73da55a86274a590bae76dc45aa004b7042e6f97803b1/lxml-6.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:84ef591495ffd3f9dcabffd6391db7bb70d7230b5c35ef5148354a134f56f2be", size = 4601387, upload-time = "2025-06-26T16:26:09.511Z" }, - { url = "https://files.pythonhosted.org/packages/a3/28/e1a9a881e6d6e29dda13d633885d13acb0058f65e95da67841c8dd02b4a8/lxml-6.0.0-cp312-cp312-manylinux2010_i686.manylinux2014_i686.manylinux_2_12_i686.manylinux_2_17_i686.whl", hash = "sha256:2930aa001a3776c3e2601cb8e0a15d21b8270528d89cc308be4843ade546b9ab", size = 5228928, upload-time = "2025-06-26T16:26:12.337Z" }, - { url = "https://files.pythonhosted.org/packages/9a/55/2cb24ea48aa30c99f805921c1c7860c1f45c0e811e44ee4e6a155668de06/lxml-6.0.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:219e0431ea8006e15005767f0351e3f7f9143e793e58519dc97fe9e07fae5563", size = 4952289, upload-time = "2025-06-28T18:47:25.602Z" }, - { url = "https://files.pythonhosted.org/packages/31/c0/b25d9528df296b9a3306ba21ff982fc5b698c45ab78b94d18c2d6ae71fd9/lxml-6.0.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:bd5913b4972681ffc9718bc2d4c53cde39ef81415e1671ff93e9aa30b46595e7", size = 5111310, upload-time = "2025-06-28T18:47:28.136Z" }, - { url = "https://files.pythonhosted.org/packages/e9/af/681a8b3e4f668bea6e6514cbcb297beb6de2b641e70f09d3d78655f4f44c/lxml-6.0.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:390240baeb9f415a82eefc2e13285016f9c8b5ad71ec80574ae8fa9605093cd7", size = 5025457, upload-time = "2025-06-26T16:26:15.068Z" }, - { url = "https://files.pythonhosted.org/packages/99/b6/3a7971aa05b7be7dfebc7ab57262ec527775c2c3c5b2f43675cac0458cad/lxml-6.0.0-cp312-cp312-manylinux_2_27_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:d6e200909a119626744dd81bae409fc44134389e03fbf1d68ed2a55a2fb10991", size = 5657016, upload-time = "2025-07-03T19:19:06.008Z" }, - { url = "https://files.pythonhosted.org/packages/69/f8/693b1a10a891197143c0673fcce5b75fc69132afa81a36e4568c12c8faba/lxml-6.0.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ca50bd612438258a91b5b3788c6621c1f05c8c478e7951899f492be42defc0da", size = 5257565, upload-time = "2025-06-26T16:26:17.906Z" }, - { url = "https://files.pythonhosted.org/packages/a8/96/e08ff98f2c6426c98c8964513c5dab8d6eb81dadcd0af6f0c538ada78d33/lxml-6.0.0-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:c24b8efd9c0f62bad0439283c2c795ef916c5a6b75f03c17799775c7ae3c0c9e", size = 4713390, upload-time = "2025-06-26T16:26:20.292Z" }, - { url = "https://files.pythonhosted.org/packages/a8/83/6184aba6cc94d7413959f6f8f54807dc318fdcd4985c347fe3ea6937f772/lxml-6.0.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:afd27d8629ae94c5d863e32ab0e1d5590371d296b87dae0a751fb22bf3685741", size = 5066103, upload-time = "2025-06-26T16:26:22.765Z" }, - { url = "https://files.pythonhosted.org/packages/ee/01/8bf1f4035852d0ff2e36a4d9aacdbcc57e93a6cd35a54e05fa984cdf73ab/lxml-6.0.0-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:54c4855eabd9fc29707d30141be99e5cd1102e7d2258d2892314cf4c110726c3", size = 4791428, upload-time = "2025-06-26T16:26:26.461Z" }, - { url = "https://files.pythonhosted.org/packages/29/31/c0267d03b16954a85ed6b065116b621d37f559553d9339c7dcc4943a76f1/lxml-6.0.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:c907516d49f77f6cd8ead1322198bdfd902003c3c330c77a1c5f3cc32a0e4d16", size = 5678523, upload-time = "2025-07-03T19:19:09.837Z" }, - { url = "https://files.pythonhosted.org/packages/5c/f7/5495829a864bc5f8b0798d2b52a807c89966523140f3d6fa3a58ab6720ea/lxml-6.0.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:36531f81c8214e293097cd2b7873f178997dae33d3667caaae8bdfb9666b76c0", size = 5281290, upload-time = "2025-06-26T16:26:29.406Z" }, - { url = "https://files.pythonhosted.org/packages/79/56/6b8edb79d9ed294ccc4e881f4db1023af56ba451909b9ce79f2a2cd7c532/lxml-6.0.0-cp312-cp312-win32.whl", hash = "sha256:690b20e3388a7ec98e899fd54c924e50ba6693874aa65ef9cb53de7f7de9d64a", size = 3613495, upload-time = "2025-06-26T16:26:31.588Z" }, - { url = "https://files.pythonhosted.org/packages/0b/1e/cc32034b40ad6af80b6fd9b66301fc0f180f300002e5c3eb5a6110a93317/lxml-6.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:310b719b695b3dd442cdfbbe64936b2f2e231bb91d998e99e6f0daf991a3eba3", size = 4014711, upload-time = "2025-06-26T16:26:33.723Z" }, - { url = "https://files.pythonhosted.org/packages/55/10/dc8e5290ae4c94bdc1a4c55865be7e1f31dfd857a88b21cbba68b5fea61b/lxml-6.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:8cb26f51c82d77483cdcd2b4a53cda55bbee29b3c2f3ddeb47182a2a9064e4eb", size = 3674431, upload-time = "2025-06-26T16:26:35.959Z" }, +version = "6.0.1" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/8f/bd/f9d01fd4132d81c6f43ab01983caea69ec9614b913c290a26738431a015d/lxml-6.0.1.tar.gz", hash = "sha256:2b3a882ebf27dd026df3801a87cf49ff791336e0f94b0fad195db77e01240690", size = 4070214, upload-time = "2025-08-22T10:37:53.525Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/29/c8/262c1d19339ef644cdc9eb5aad2e85bd2d1fa2d7c71cdef3ede1a3eed84d/lxml-6.0.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:c6acde83f7a3d6399e6d83c1892a06ac9b14ea48332a5fbd55d60b9897b9570a", size = 8422719, upload-time = "2025-08-22T10:32:24.848Z" }, + { url = "https://files.pythonhosted.org/packages/e5/d4/1b0afbeb801468a310642c3a6f6704e53c38a4a6eb1ca6faea013333e02f/lxml-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:0d21c9cacb6a889cbb8eeb46c77ef2c1dd529cde10443fdeb1de847b3193c541", size = 4575763, upload-time = "2025-08-22T10:32:27.057Z" }, + { url = "https://files.pythonhosted.org/packages/5b/c1/8db9b5402bf52ceb758618313f7423cd54aea85679fcf607013707d854a8/lxml-6.0.1-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:847458b7cd0d04004895f1fb2cca8e7c0f8ec923c49c06b7a72ec2d48ea6aca2", size = 4943244, upload-time = "2025-08-22T10:32:28.847Z" }, + { url = "https://files.pythonhosted.org/packages/e7/78/838e115358dd2369c1c5186080dd874a50a691fb5cd80db6afe5e816e2c6/lxml-6.0.1-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1dc13405bf315d008fe02b1472d2a9d65ee1c73c0a06de5f5a45e6e404d9a1c0", size = 5081725, upload-time = "2025-08-22T10:32:30.666Z" }, + { url = "https://files.pythonhosted.org/packages/c7/b6/bdcb3a3ddd2438c5b1a1915161f34e8c85c96dc574b0ef3be3924f36315c/lxml-6.0.1-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:70f540c229a8c0a770dcaf6d5af56a5295e0fc314fc7ef4399d543328054bcea", size = 5021238, upload-time = "2025-08-22T10:32:32.49Z" }, + { url = "https://files.pythonhosted.org/packages/73/e5/1bfb96185dc1a64c7c6fbb7369192bda4461952daa2025207715f9968205/lxml-6.0.1-cp311-cp311-manylinux_2_26_i686.manylinux_2_28_i686.whl", hash = "sha256:d2f73aef768c70e8deb8c4742fca4fd729b132fda68458518851c7735b55297e", size = 5343744, upload-time = "2025-08-22T10:32:34.385Z" }, + { url = "https://files.pythonhosted.org/packages/a2/ae/df3ea9ebc3c493b9c6bdc6bd8c554ac4e147f8d7839993388aab57ec606d/lxml-6.0.1-cp311-cp311-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:e7f4066b85a4fa25ad31b75444bd578c3ebe6b8ed47237896341308e2ce923c3", size = 5223477, upload-time = "2025-08-22T10:32:36.256Z" }, + { url = "https://files.pythonhosted.org/packages/37/b3/65e1e33600542c08bc03a4c5c9c306c34696b0966a424a3be6ffec8038ed/lxml-6.0.1-cp311-cp311-manylinux_2_31_armv7l.whl", hash = "sha256:0cce65db0cd8c750a378639900d56f89f7d6af11cd5eda72fde054d27c54b8ce", size = 4676626, upload-time = "2025-08-22T10:32:38.793Z" }, + { url = "https://files.pythonhosted.org/packages/7a/46/ee3ed8f3a60e9457d7aea46542d419917d81dbfd5700fe64b2a36fb5ef61/lxml-6.0.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:c372d42f3eee5844b69dcab7b8d18b2f449efd54b46ac76970d6e06b8e8d9a66", size = 5066042, upload-time = "2025-08-22T10:32:41.134Z" }, + { url = "https://files.pythonhosted.org/packages/9c/b9/8394538e7cdbeb3bfa36bc74924be1a4383e0bb5af75f32713c2c4aa0479/lxml-6.0.1-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:2e2b0e042e1408bbb1c5f3cfcb0f571ff4ac98d8e73f4bf37c5dd179276beedd", size = 4724714, upload-time = "2025-08-22T10:32:43.94Z" }, + { url = "https://files.pythonhosted.org/packages/b3/21/3ef7da1ea2a73976c1a5a311d7cde5d379234eec0968ee609517714940b4/lxml-6.0.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:cc73bb8640eadd66d25c5a03175de6801f63c535f0f3cf50cac2f06a8211f420", size = 5247376, upload-time = "2025-08-22T10:32:46.263Z" }, + { url = "https://files.pythonhosted.org/packages/26/7d/0980016f124f00c572cba6f4243e13a8e80650843c66271ee692cddf25f3/lxml-6.0.1-cp311-cp311-win32.whl", hash = "sha256:7c23fd8c839708d368e406282d7953cee5134f4592ef4900026d84566d2b4c88", size = 3609499, upload-time = "2025-08-22T10:32:48.156Z" }, + { url = "https://files.pythonhosted.org/packages/b1/08/28440437521f265eff4413eb2a65efac269c4c7db5fd8449b586e75d8de2/lxml-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:2516acc6947ecd3c41a4a4564242a87c6786376989307284ddb115f6a99d927f", size = 4036003, upload-time = "2025-08-22T10:32:50.662Z" }, + { url = "https://files.pythonhosted.org/packages/7b/dc/617e67296d98099213a505d781f04804e7b12923ecd15a781a4ab9181992/lxml-6.0.1-cp311-cp311-win_arm64.whl", hash = "sha256:cb46f8cfa1b0334b074f40c0ff94ce4d9a6755d492e6c116adb5f4a57fb6ad96", size = 3679662, upload-time = "2025-08-22T10:32:52.739Z" }, + { url = "https://files.pythonhosted.org/packages/b0/a9/82b244c8198fcdf709532e39a1751943a36b3e800b420adc739d751e0299/lxml-6.0.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:c03ac546adaabbe0b8e4a15d9ad815a281afc8d36249c246aecf1aaad7d6f200", size = 8422788, upload-time = "2025-08-22T10:32:56.612Z" }, + { url = "https://files.pythonhosted.org/packages/c9/8d/1ed2bc20281b0e7ed3e6c12b0a16e64ae2065d99be075be119ba88486e6d/lxml-6.0.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:33b862c7e3bbeb4ba2c96f3a039f925c640eeba9087a4dc7a572ec0f19d89392", size = 4593547, upload-time = "2025-08-22T10:32:59.016Z" }, + { url = "https://files.pythonhosted.org/packages/76/53/d7fd3af95b72a3493bf7fbe842a01e339d8f41567805cecfecd5c71aa5ee/lxml-6.0.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:7a3ec1373f7d3f519de595032d4dcafae396c29407cfd5073f42d267ba32440d", size = 4948101, upload-time = "2025-08-22T10:33:00.765Z" }, + { url = "https://files.pythonhosted.org/packages/9d/51/4e57cba4d55273c400fb63aefa2f0d08d15eac021432571a7eeefee67bed/lxml-6.0.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:03b12214fb1608f4cffa181ec3d046c72f7e77c345d06222144744c122ded870", size = 5108090, upload-time = "2025-08-22T10:33:03.108Z" }, + { url = "https://files.pythonhosted.org/packages/f6/6e/5f290bc26fcc642bc32942e903e833472271614e24d64ad28aaec09d5dae/lxml-6.0.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:207ae0d5f0f03b30f95e649a6fa22aa73f5825667fee9c7ec6854d30e19f2ed8", size = 5021791, upload-time = "2025-08-22T10:33:06.972Z" }, + { url = "https://files.pythonhosted.org/packages/13/d4/2e7551a86992ece4f9a0f6eebd4fb7e312d30f1e372760e2109e721d4ce6/lxml-6.0.1-cp312-cp312-manylinux_2_26_i686.manylinux_2_28_i686.whl", hash = "sha256:32297b09ed4b17f7b3f448de87a92fb31bb8747496623483788e9f27c98c0f00", size = 5358861, upload-time = "2025-08-22T10:33:08.967Z" }, + { url = "https://files.pythonhosted.org/packages/8a/5f/cb49d727fc388bf5fd37247209bab0da11697ddc5e976ccac4826599939e/lxml-6.0.1-cp312-cp312-manylinux_2_26_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:7e18224ea241b657a157c85e9cac82c2b113ec90876e01e1f127312006233756", size = 5652569, upload-time = "2025-08-22T10:33:10.815Z" }, + { url = "https://files.pythonhosted.org/packages/ca/b8/66c1ef8c87ad0f958b0a23998851e610607c74849e75e83955d5641272e6/lxml-6.0.1-cp312-cp312-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:a07a994d3c46cd4020c1ea566345cf6815af205b1e948213a4f0f1d392182072", size = 5252262, upload-time = "2025-08-22T10:33:12.673Z" }, + { url = "https://files.pythonhosted.org/packages/1a/ef/131d3d6b9590e64fdbb932fbc576b81fcc686289da19c7cb796257310e82/lxml-6.0.1-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:2287fadaa12418a813b05095485c286c47ea58155930cfbd98c590d25770e225", size = 4710309, upload-time = "2025-08-22T10:33:14.952Z" }, + { url = "https://files.pythonhosted.org/packages/bc/3f/07f48ae422dce44902309aa7ed386c35310929dc592439c403ec16ef9137/lxml-6.0.1-cp312-cp312-manylinux_2_38_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:b4e597efca032ed99f418bd21314745522ab9fa95af33370dcee5533f7f70136", size = 5265786, upload-time = "2025-08-22T10:33:16.721Z" }, + { url = "https://files.pythonhosted.org/packages/11/c7/125315d7b14ab20d9155e8316f7d287a4956098f787c22d47560b74886c4/lxml-6.0.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:9696d491f156226decdd95d9651c6786d43701e49f32bf23715c975539aa2b3b", size = 5062272, upload-time = "2025-08-22T10:33:18.478Z" }, + { url = "https://files.pythonhosted.org/packages/8b/c3/51143c3a5fc5168a7c3ee626418468ff20d30f5a59597e7b156c1e61fba8/lxml-6.0.1-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:e4e3cd3585f3c6f87cdea44cda68e692cc42a012f0131d25957ba4ce755241a7", size = 4786955, upload-time = "2025-08-22T10:33:20.34Z" }, + { url = "https://files.pythonhosted.org/packages/11/86/73102370a420ec4529647b31c4a8ce8c740c77af3a5fae7a7643212d6f6e/lxml-6.0.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:45cbc92f9d22c28cd3b97f8d07fcefa42e569fbd587dfdac76852b16a4924277", size = 5673557, upload-time = "2025-08-22T10:33:22.282Z" }, + { url = "https://files.pythonhosted.org/packages/d7/2d/aad90afaec51029aef26ef773b8fd74a9e8706e5e2f46a57acd11a421c02/lxml-6.0.1-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:f8c9bcfd2e12299a442fba94459adf0b0d001dbc68f1594439bfa10ad1ecb74b", size = 5254211, upload-time = "2025-08-22T10:33:24.15Z" }, + { url = "https://files.pythonhosted.org/packages/63/01/c9e42c8c2d8b41f4bdefa42ab05448852e439045f112903dd901b8fbea4d/lxml-6.0.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:1e9dc2b9f1586e7cd77753eae81f8d76220eed9b768f337dc83a3f675f2f0cf9", size = 5275817, upload-time = "2025-08-22T10:33:26.007Z" }, + { url = "https://files.pythonhosted.org/packages/bc/1f/962ea2696759abe331c3b0e838bb17e92224f39c638c2068bf0d8345e913/lxml-6.0.1-cp312-cp312-win32.whl", hash = "sha256:987ad5c3941c64031f59c226167f55a04d1272e76b241bfafc968bdb778e07fb", size = 3610889, upload-time = "2025-08-22T10:33:28.169Z" }, + { url = "https://files.pythonhosted.org/packages/41/e2/22c86a990b51b44442b75c43ecb2f77b8daba8c4ba63696921966eac7022/lxml-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:abb05a45394fd76bf4a60c1b7bec0e6d4e8dfc569fc0e0b1f634cd983a006ddc", size = 4010925, upload-time = "2025-08-22T10:33:29.874Z" }, + { url = "https://files.pythonhosted.org/packages/b2/21/dc0c73325e5eb94ef9c9d60dbb5dcdcb2e7114901ea9509735614a74e75a/lxml-6.0.1-cp312-cp312-win_arm64.whl", hash = "sha256:c4be29bce35020d8579d60aa0a4e95effd66fcfce31c46ffddf7e5422f73a299", size = 3671922, upload-time = "2025-08-22T10:33:31.535Z" }, + { url = "https://files.pythonhosted.org/packages/41/37/41961f53f83ded57b37e65e4f47d1c6c6ef5fd02cb1d6ffe028ba0efa7d4/lxml-6.0.1-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:b556aaa6ef393e989dac694b9c95761e32e058d5c4c11ddeef33f790518f7a5e", size = 3903412, upload-time = "2025-08-22T10:37:40.758Z" }, + { url = "https://files.pythonhosted.org/packages/3d/47/8631ea73f3dc776fb6517ccde4d5bd5072f35f9eacbba8c657caa4037a69/lxml-6.0.1-pp311-pypy311_pp73-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:64fac7a05ebb3737b79fd89fe5a5b6c5546aac35cfcfd9208eb6e5d13215771c", size = 4224810, upload-time = "2025-08-22T10:37:42.839Z" }, + { url = "https://files.pythonhosted.org/packages/3d/b8/39ae30ca3b1516729faeef941ed84bf8f12321625f2644492ed8320cb254/lxml-6.0.1-pp311-pypy311_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:038d3c08babcfce9dc89aaf498e6da205efad5b7106c3b11830a488d4eadf56b", size = 4329221, upload-time = "2025-08-22T10:37:45.223Z" }, + { url = "https://files.pythonhosted.org/packages/9c/ea/048dea6cdfc7a72d40ae8ed7e7d23cf4a6b6a6547b51b492a3be50af0e80/lxml-6.0.1-pp311-pypy311_pp73-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:445f2cee71c404ab4259bc21e20339a859f75383ba2d7fb97dfe7c163994287b", size = 4270228, upload-time = "2025-08-22T10:37:47.276Z" }, + { url = "https://files.pythonhosted.org/packages/6b/d4/c2b46e432377c45d611ae2f669aa47971df1586c1a5240675801d0f02bac/lxml-6.0.1-pp311-pypy311_pp73-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:e352d8578e83822d70bea88f3d08b9912528e4c338f04ab707207ab12f4b7aac", size = 4416077, upload-time = "2025-08-22T10:37:49.822Z" }, + { url = "https://files.pythonhosted.org/packages/b6/db/8f620f1ac62cf32554821b00b768dd5957ac8e3fd051593532be5b40b438/lxml-6.0.1-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:51bd5d1a9796ca253db6045ab45ca882c09c071deafffc22e06975b7ace36300", size = 3518127, upload-time = "2025-08-22T10:37:51.66Z" }, ] [[package]] @@ -4452,38 +4460,38 @@ wheels = [ [[package]] name = "pyzmq" -version = "27.0.1" +version = "27.0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "cffi", marker = "implementation_name == 'pypy'" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/30/5f/557d2032a2f471edbcc227da724c24a1c05887b5cda1e3ae53af98b9e0a5/pyzmq-27.0.1.tar.gz", hash = "sha256:45c549204bc20e7484ffd2555f6cf02e572440ecf2f3bdd60d4404b20fddf64b", size = 281158, upload-time = "2025-08-03T05:05:40.352Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/ae/18/a8e0da6ababbe9326116fb1c890bf1920eea880e8da621afb6bc0f39a262/pyzmq-27.0.1-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:9729190bd770314f5fbba42476abf6abe79a746eeda11d1d68fd56dd70e5c296", size = 1332721, upload-time = "2025-08-03T05:03:15.237Z" }, - { url = "https://files.pythonhosted.org/packages/75/a4/9431ba598651d60ebd50dc25755402b770322cf8432adcc07d2906e53a54/pyzmq-27.0.1-cp311-cp311-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:696900ef6bc20bef6a242973943574f96c3f97d2183c1bd3da5eea4f559631b1", size = 908249, upload-time = "2025-08-03T05:03:16.933Z" }, - { url = "https://files.pythonhosted.org/packages/f0/7a/e624e1793689e4e685d2ee21c40277dd4024d9d730af20446d88f69be838/pyzmq-27.0.1-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f96a63aecec22d3f7fdea3c6c98df9e42973f5856bb6812c3d8d78c262fee808", size = 668649, upload-time = "2025-08-03T05:03:18.49Z" }, - { url = "https://files.pythonhosted.org/packages/6c/29/0652a39d4e876e0d61379047ecf7752685414ad2e253434348246f7a2a39/pyzmq-27.0.1-cp311-cp311-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:c512824360ea7490390566ce00bee880e19b526b312b25cc0bc30a0fe95cb67f", size = 856601, upload-time = "2025-08-03T05:03:20.194Z" }, - { url = "https://files.pythonhosted.org/packages/36/2d/8d5355d7fc55bb6e9c581dd74f58b64fa78c994079e3a0ea09b1b5627cde/pyzmq-27.0.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:dfb2bb5e0f7198eaacfb6796fb0330afd28f36d985a770745fba554a5903595a", size = 1657750, upload-time = "2025-08-03T05:03:22.055Z" }, - { url = "https://files.pythonhosted.org/packages/ab/f4/cd032352d5d252dc6f5ee272a34b59718ba3af1639a8a4ef4654f9535cf5/pyzmq-27.0.1-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:4f6886c59ba93ffde09b957d3e857e7950c8fe818bd5494d9b4287bc6d5bc7f1", size = 2034312, upload-time = "2025-08-03T05:03:23.578Z" }, - { url = "https://files.pythonhosted.org/packages/e4/1a/c050d8b6597200e97a4bd29b93c769d002fa0b03083858227e0376ad59bc/pyzmq-27.0.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:b99ea9d330e86ce1ff7f2456b33f1bf81c43862a5590faf4ef4ed3a63504bdab", size = 1893632, upload-time = "2025-08-03T05:03:25.167Z" }, - { url = "https://files.pythonhosted.org/packages/6a/29/173ce21d5097e7fcf284a090e8beb64fc683c6582b1f00fa52b1b7e867ce/pyzmq-27.0.1-cp311-cp311-win32.whl", hash = "sha256:571f762aed89025ba8cdcbe355fea56889715ec06d0264fd8b6a3f3fa38154ed", size = 566587, upload-time = "2025-08-03T05:03:26.769Z" }, - { url = "https://files.pythonhosted.org/packages/53/ab/22bd33e7086f0a2cc03a5adabff4bde414288bb62a21a7820951ef86ec20/pyzmq-27.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:ee16906c8025fa464bea1e48128c048d02359fb40bebe5333103228528506530", size = 632873, upload-time = "2025-08-03T05:03:28.685Z" }, - { url = "https://files.pythonhosted.org/packages/90/14/3e59b4a28194285ceeff725eba9aa5ba8568d1cb78aed381dec1537c705a/pyzmq-27.0.1-cp311-cp311-win_arm64.whl", hash = "sha256:ba068f28028849da725ff9185c24f832ccf9207a40f9b28ac46ab7c04994bd41", size = 558918, upload-time = "2025-08-03T05:03:30.085Z" }, - { url = "https://files.pythonhosted.org/packages/0e/9b/c0957041067c7724b310f22c398be46399297c12ed834c3bc42200a2756f/pyzmq-27.0.1-cp312-abi3-macosx_10_15_universal2.whl", hash = "sha256:af7ebce2a1e7caf30c0bb64a845f63a69e76a2fadbc1cac47178f7bb6e657bdd", size = 1305432, upload-time = "2025-08-03T05:03:32.177Z" }, - { url = "https://files.pythonhosted.org/packages/8e/55/bd3a312790858f16b7def3897a0c3eb1804e974711bf7b9dcb5f47e7f82c/pyzmq-27.0.1-cp312-abi3-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:8f617f60a8b609a13099b313e7e525e67f84ef4524b6acad396d9ff153f6e4cd", size = 895095, upload-time = "2025-08-03T05:03:33.918Z" }, - { url = "https://files.pythonhosted.org/packages/20/50/fc384631d8282809fb1029a4460d2fe90fa0370a0e866a8318ed75c8d3bb/pyzmq-27.0.1-cp312-abi3-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:1d59dad4173dc2a111f03e59315c7bd6e73da1a9d20a84a25cf08325b0582b1a", size = 651826, upload-time = "2025-08-03T05:03:35.818Z" }, - { url = "https://files.pythonhosted.org/packages/7e/0a/2356305c423a975000867de56888b79e44ec2192c690ff93c3109fd78081/pyzmq-27.0.1-cp312-abi3-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:f5b6133c8d313bde8bd0d123c169d22525300ff164c2189f849de495e1344577", size = 839751, upload-time = "2025-08-03T05:03:37.265Z" }, - { url = "https://files.pythonhosted.org/packages/d7/1b/81e95ad256ca7e7ccd47f5294c1c6da6e2b64fbace65b84fe8a41470342e/pyzmq-27.0.1-cp312-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:58cca552567423f04d06a075f4b473e78ab5bdb906febe56bf4797633f54aa4e", size = 1641359, upload-time = "2025-08-03T05:03:38.799Z" }, - { url = "https://files.pythonhosted.org/packages/50/63/9f50ec965285f4e92c265c8f18344e46b12803666d8b73b65d254d441435/pyzmq-27.0.1-cp312-abi3-musllinux_1_2_i686.whl", hash = "sha256:4b9d8e26fb600d0d69cc9933e20af08552e97cc868a183d38a5c0d661e40dfbb", size = 2020281, upload-time = "2025-08-03T05:03:40.338Z" }, - { url = "https://files.pythonhosted.org/packages/02/4a/19e3398d0dc66ad2b463e4afa1fc541d697d7bc090305f9dfb948d3dfa29/pyzmq-27.0.1-cp312-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:2329f0c87f0466dce45bba32b63f47018dda5ca40a0085cc5c8558fea7d9fc55", size = 1877112, upload-time = "2025-08-03T05:03:42.012Z" }, - { url = "https://files.pythonhosted.org/packages/bf/42/c562e9151aa90ed1d70aac381ea22a929d6b3a2ce4e1d6e2e135d34fd9c6/pyzmq-27.0.1-cp312-abi3-win32.whl", hash = "sha256:57bb92abdb48467b89c2d21da1ab01a07d0745e536d62afd2e30d5acbd0092eb", size = 558177, upload-time = "2025-08-03T05:03:43.979Z" }, - { url = "https://files.pythonhosted.org/packages/40/96/5c50a7d2d2b05b19994bf7336b97db254299353dd9b49b565bb71b485f03/pyzmq-27.0.1-cp312-abi3-win_amd64.whl", hash = "sha256:ff3f8757570e45da7a5bedaa140489846510014f7a9d5ee9301c61f3f1b8a686", size = 618923, upload-time = "2025-08-03T05:03:45.438Z" }, - { url = "https://files.pythonhosted.org/packages/13/33/1ec89c8f21c89d21a2eaff7def3676e21d8248d2675705e72554fb5a6f3f/pyzmq-27.0.1-cp312-abi3-win_arm64.whl", hash = "sha256:df2c55c958d3766bdb3e9d858b911288acec09a9aab15883f384fc7180df5bed", size = 552358, upload-time = "2025-08-03T05:03:46.887Z" }, - { url = "https://files.pythonhosted.org/packages/b4/1a/49f66fe0bc2b2568dd4280f1f520ac8fafd73f8d762140e278d48aeaf7b9/pyzmq-27.0.1-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:7fb0ee35845bef1e8c4a152d766242164e138c239e3182f558ae15cb4a891f94", size = 835949, upload-time = "2025-08-03T05:05:13.798Z" }, - { url = "https://files.pythonhosted.org/packages/49/94/443c1984b397eab59b14dd7ae8bc2ac7e8f32dbc646474453afcaa6508c4/pyzmq-27.0.1-pp311-pypy311_pp73-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:f379f11e138dfd56c3f24a04164f871a08281194dd9ddf656a278d7d080c8ad0", size = 799875, upload-time = "2025-08-03T05:05:15.632Z" }, - { url = "https://files.pythonhosted.org/packages/30/f1/fd96138a0f152786a2ba517e9c6a8b1b3516719e412a90bb5d8eea6b660c/pyzmq-27.0.1-pp311-pypy311_pp73-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:b978c0678cffbe8860ec9edc91200e895c29ae1ac8a7085f947f8e8864c489fb", size = 567403, upload-time = "2025-08-03T05:05:17.326Z" }, - { url = "https://files.pythonhosted.org/packages/16/57/34e53ef2b55b1428dac5aabe3a974a16c8bda3bf20549ba500e3ff6cb426/pyzmq-27.0.1-pp311-pypy311_pp73-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:7ebccf0d760bc92a4a7c751aeb2fef6626144aace76ee8f5a63abeb100cae87f", size = 747032, upload-time = "2025-08-03T05:05:19.074Z" }, - { url = "https://files.pythonhosted.org/packages/81/b7/769598c5ae336fdb657946950465569cf18803140fe89ce466d7f0a57c11/pyzmq-27.0.1-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:77fed80e30fa65708546c4119840a46691290efc231f6bfb2ac2a39b52e15811", size = 544566, upload-time = "2025-08-03T05:05:20.798Z" }, +sdist = { url = "https://files.pythonhosted.org/packages/f8/66/159f38d184f08b5f971b467f87b1ab142ab1320d5200825c824b32b84b66/pyzmq-27.0.2.tar.gz", hash = "sha256:b398dd713b18de89730447347e96a0240225e154db56e35b6bb8447ffdb07798", size = 281440, upload-time = "2025-08-21T04:23:26.334Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/42/73/034429ab0f4316bf433eb6c20c3f49d1dc13b2ed4e4d951b283d300a0f35/pyzmq-27.0.2-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:063845960df76599ad4fad69fa4d884b3ba38304272104fdcd7e3af33faeeb1d", size = 1333169, upload-time = "2025-08-21T04:21:12.483Z" }, + { url = "https://files.pythonhosted.org/packages/35/02/c42b3b526eb03a570c889eea85a5602797f800a50ba8b09ddbf7db568b78/pyzmq-27.0.2-cp311-cp311-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:845a35fb21b88786aeb38af8b271d41ab0967985410f35411a27eebdc578a076", size = 909176, upload-time = "2025-08-21T04:21:13.835Z" }, + { url = "https://files.pythonhosted.org/packages/1b/35/a1c0b988fabbdf2dc5fe94b7c2bcfd61e3533e5109297b8e0daf1d7a8d2d/pyzmq-27.0.2-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:515d20b5c3c86db95503faa989853a8ab692aab1e5336db011cd6d35626c4cb1", size = 668972, upload-time = "2025-08-21T04:21:15.315Z" }, + { url = "https://files.pythonhosted.org/packages/a0/63/908ac865da32ceaeecea72adceadad28ca25b23a2ca5ff018e5bff30116f/pyzmq-27.0.2-cp311-cp311-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:862aedec0b0684a5050cdb5ec13c2da96d2f8dffda48657ed35e312a4e31553b", size = 856962, upload-time = "2025-08-21T04:21:16.652Z" }, + { url = "https://files.pythonhosted.org/packages/2f/5a/90b3cc20b65cdf9391896fcfc15d8db21182eab810b7ea05a2986912fbe2/pyzmq-27.0.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:2cb5bcfc51c7a4fce335d3bc974fd1d6a916abbcdd2b25f6e89d37b8def25f57", size = 1657712, upload-time = "2025-08-21T04:21:18.666Z" }, + { url = "https://files.pythonhosted.org/packages/c4/3c/32a5a80f9be4759325b8d7b22ce674bb87e586b4c80c6a9d77598b60d6f0/pyzmq-27.0.2-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:38ff75b2a36e3a032e9fef29a5871e3e1301a37464e09ba364e3c3193f62982a", size = 2035054, upload-time = "2025-08-21T04:21:20.073Z" }, + { url = "https://files.pythonhosted.org/packages/13/61/71084fe2ff2d7dc5713f8740d735336e87544845dae1207a8e2e16d9af90/pyzmq-27.0.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:7a5709abe8d23ca158a9d0a18c037f4193f5b6afeb53be37173a41e9fb885792", size = 1894010, upload-time = "2025-08-21T04:21:21.96Z" }, + { url = "https://files.pythonhosted.org/packages/cb/6b/77169cfb13b696e50112ca496b2ed23c4b7d8860a1ec0ff3e4b9f9926221/pyzmq-27.0.2-cp311-cp311-win32.whl", hash = "sha256:47c5dda2018c35d87be9b83de0890cb92ac0791fd59498847fc4eca6ff56671d", size = 566819, upload-time = "2025-08-21T04:21:23.31Z" }, + { url = "https://files.pythonhosted.org/packages/37/cd/86c4083e0f811f48f11bc0ddf1e7d13ef37adfd2fd4f78f2445f1cc5dec0/pyzmq-27.0.2-cp311-cp311-win_amd64.whl", hash = "sha256:f54ca3e98f8f4d23e989c7d0edcf9da7a514ff261edaf64d1d8653dd5feb0a8b", size = 633264, upload-time = "2025-08-21T04:21:24.761Z" }, + { url = "https://files.pythonhosted.org/packages/a0/69/5b8bb6a19a36a569fac02153a9e083738785892636270f5f68a915956aea/pyzmq-27.0.2-cp311-cp311-win_arm64.whl", hash = "sha256:2ef3067cb5b51b090fb853f423ad7ed63836ec154374282780a62eb866bf5768", size = 559316, upload-time = "2025-08-21T04:21:26.1Z" }, + { url = "https://files.pythonhosted.org/packages/68/69/b3a729e7b03e412bee2b1823ab8d22e20a92593634f664afd04c6c9d9ac0/pyzmq-27.0.2-cp312-abi3-macosx_10_15_universal2.whl", hash = "sha256:5da05e3c22c95e23bfc4afeee6ff7d4be9ff2233ad6cb171a0e8257cd46b169a", size = 1305910, upload-time = "2025-08-21T04:21:27.609Z" }, + { url = "https://files.pythonhosted.org/packages/15/b7/f6a6a285193d489b223c340b38ee03a673467cb54914da21c3d7849f1b10/pyzmq-27.0.2-cp312-abi3-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:4e4520577971d01d47e2559bb3175fce1be9103b18621bf0b241abe0a933d040", size = 895507, upload-time = "2025-08-21T04:21:29.005Z" }, + { url = "https://files.pythonhosted.org/packages/17/e6/c4ed2da5ef9182cde1b1f5d0051a986e76339d71720ec1a00be0b49275ad/pyzmq-27.0.2-cp312-abi3-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:56d7de7bf73165b90bd25a8668659ccb134dd28449116bf3c7e9bab5cf8a8ec9", size = 652670, upload-time = "2025-08-21T04:21:30.71Z" }, + { url = "https://files.pythonhosted.org/packages/0e/66/d781ab0636570d32c745c4e389b1c6b713115905cca69ab6233508622edd/pyzmq-27.0.2-cp312-abi3-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:340e7cddc32f147c6c00d116a3f284ab07ee63dbd26c52be13b590520434533c", size = 840581, upload-time = "2025-08-21T04:21:32.008Z" }, + { url = "https://files.pythonhosted.org/packages/a6/df/f24790caf565d72544f5c8d8500960b9562c1dc848d6f22f3c7e122e73d4/pyzmq-27.0.2-cp312-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:ba95693f9df8bb4a9826464fb0fe89033936f35fd4a8ff1edff09a473570afa0", size = 1641931, upload-time = "2025-08-21T04:21:33.371Z" }, + { url = "https://files.pythonhosted.org/packages/65/65/77d27b19fc5e845367f9100db90b9fce924f611b14770db480615944c9c9/pyzmq-27.0.2-cp312-abi3-musllinux_1_2_i686.whl", hash = "sha256:ca42a6ce2d697537da34f77a1960d21476c6a4af3e539eddb2b114c3cf65a78c", size = 2021226, upload-time = "2025-08-21T04:21:35.301Z" }, + { url = "https://files.pythonhosted.org/packages/5b/65/1ed14421ba27a4207fa694772003a311d1142b7f543179e4d1099b7eb746/pyzmq-27.0.2-cp312-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:3e44e665d78a07214b2772ccbd4b9bcc6d848d7895f1b2d7653f047b6318a4f6", size = 1878047, upload-time = "2025-08-21T04:21:36.749Z" }, + { url = "https://files.pythonhosted.org/packages/dd/dc/e578549b89b40dc78a387ec471c2a360766690c0a045cd8d1877d401012d/pyzmq-27.0.2-cp312-abi3-win32.whl", hash = "sha256:272d772d116615397d2be2b1417b3b8c8bc8671f93728c2f2c25002a4530e8f6", size = 558757, upload-time = "2025-08-21T04:21:38.2Z" }, + { url = "https://files.pythonhosted.org/packages/b5/89/06600980aefcc535c758414da969f37a5194ea4cdb73b745223f6af3acfb/pyzmq-27.0.2-cp312-abi3-win_amd64.whl", hash = "sha256:734be4f44efba0aa69bf5f015ed13eb69ff29bf0d17ea1e21588b095a3147b8e", size = 619281, upload-time = "2025-08-21T04:21:39.909Z" }, + { url = "https://files.pythonhosted.org/packages/30/84/df8a5c089552d17c9941d1aea4314b606edf1b1622361dae89aacedc6467/pyzmq-27.0.2-cp312-abi3-win_arm64.whl", hash = "sha256:41f0bd56d9279392810950feb2785a419c2920bbf007fdaaa7f4a07332ae492d", size = 552680, upload-time = "2025-08-21T04:21:41.571Z" }, + { url = "https://files.pythonhosted.org/packages/c7/60/027d0032a1e3b1aabcef0e309b9ff8a4099bdd5a60ab38b36a676ff2bd7b/pyzmq-27.0.2-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:e297784aea724294fe95e442e39a4376c2f08aa4fae4161c669f047051e31b02", size = 836007, upload-time = "2025-08-21T04:23:00.447Z" }, + { url = "https://files.pythonhosted.org/packages/25/20/2ed1e6168aaea323df9bb2c451309291f53ba3af372ffc16edd4ce15b9e5/pyzmq-27.0.2-pp311-pypy311_pp73-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:e3659a79ded9745bc9c2aef5b444ac8805606e7bc50d2d2eb16dc3ab5483d91f", size = 799932, upload-time = "2025-08-21T04:23:02.052Z" }, + { url = "https://files.pythonhosted.org/packages/fd/25/5c147307de546b502c9373688ce5b25dc22288d23a1ebebe5d587bf77610/pyzmq-27.0.2-pp311-pypy311_pp73-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f3dba49ff037d02373a9306b58d6c1e0be031438f822044e8767afccfdac4c6b", size = 567459, upload-time = "2025-08-21T04:23:03.593Z" }, + { url = "https://files.pythonhosted.org/packages/71/06/0dc56ffc615c8095cd089c9b98ce5c733e990f09ce4e8eea4aaf1041a532/pyzmq-27.0.2-pp311-pypy311_pp73-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:de84e1694f9507b29e7b263453a2255a73e3d099d258db0f14539bad258abe41", size = 747088, upload-time = "2025-08-21T04:23:05.334Z" }, + { url = "https://files.pythonhosted.org/packages/06/f6/4a50187e023b8848edd3f0a8e197b1a7fb08d261d8c60aae7cb6c3d71612/pyzmq-27.0.2-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:f0944d65ba2b872b9fcece08411d6347f15a874c775b4c3baae7f278550da0fb", size = 544639, upload-time = "2025-08-21T04:23:07.279Z" }, ] [[package]] @@ -4524,7 +4532,7 @@ wheels = [ [[package]] name = "requests" -version = "2.32.4" +version = "2.32.5" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "certifi" }, @@ -4532,21 +4540,21 @@ dependencies = [ { name = "idna" }, { name = "urllib3" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/e1/0a/929373653770d8a0d7ea76c37de6e41f11eb07559b103b1c02cafb3f7cf8/requests-2.32.4.tar.gz", hash = "sha256:27d0316682c8a29834d3264820024b62a36942083d52caf2f14c0591336d3422", size = 135258, upload-time = "2025-06-09T16:43:07.34Z" } +sdist = { url = "https://files.pythonhosted.org/packages/c9/74/b3ff8e6c8446842c3f5c837e9c3dfcfe2018ea6ecef224c710c85ef728f4/requests-2.32.5.tar.gz", hash = "sha256:dbba0bac56e100853db0ea71b82b4dfd5fe2bf6d3754a8893c3af500cec7d7cf", size = 134517, upload-time = "2025-08-18T20:46:02.573Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/7c/e4/56027c4a6b4ae70ca9de302488c5ca95ad4a39e190093d6c1a8ace08341b/requests-2.32.4-py3-none-any.whl", hash = "sha256:27babd3cda2a6d50b30443204ee89830707d396671944c998b5975b031ac2b2c", size = 64847, upload-time = "2025-06-09T16:43:05.728Z" }, + { url = "https://files.pythonhosted.org/packages/1e/db/4254e3eabe8020b458f1a747140d32277ec7a271daf1d235b70dc0b4e6e3/requests-2.32.5-py3-none-any.whl", hash = "sha256:2462f94637a34fd532264295e186976db0f5d453d1cdd31473c85a6a161affb6", size = 64738, upload-time = "2025-08-18T20:46:00.542Z" }, ] [[package]] name = "ruamel-yaml" -version = "0.18.14" +version = "0.18.15" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "ruamel-yaml-clib", marker = "platform_python_implementation == 'CPython'" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/39/87/6da0df742a4684263261c253f00edd5829e6aca970fff69e75028cccc547/ruamel.yaml-0.18.14.tar.gz", hash = "sha256:7227b76aaec364df15936730efbf7d72b30c0b79b1d578bbb8e3dcb2d81f52b7", size = 145511, upload-time = "2025-06-09T08:51:09.828Z" } +sdist = { url = "https://files.pythonhosted.org/packages/3e/db/f3950f5e5031b618aae9f423a39bf81a55c148aecd15a34527898e752cf4/ruamel.yaml-0.18.15.tar.gz", hash = "sha256:dbfca74b018c4c3fba0b9cc9ee33e53c371194a9000e694995e620490fd40700", size = 146865, upload-time = "2025-08-19T11:15:10.694Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/af/6d/6fe4805235e193aad4aaf979160dd1f3c487c57d48b810c816e6e842171b/ruamel.yaml-0.18.14-py3-none-any.whl", hash = "sha256:710ff198bb53da66718c7db27eec4fbcc9aa6ca7204e4c1df2f282b6fe5eb6b2", size = 118570, upload-time = "2025-06-09T08:51:06.348Z" }, + { url = "https://files.pythonhosted.org/packages/d1/e5/f2a0621f1781b76a38194acae72f01e37b1941470407345b6e8653ad7640/ruamel.yaml-0.18.15-py3-none-any.whl", hash = "sha256:148f6488d698b7a5eded5ea793a025308b25eca97208181b6a026037f391f701", size = 119702, upload-time = "2025-08-19T11:15:07.696Z" }, ] [[package]] @@ -4586,28 +4594,28 @@ wheels = [ [[package]] name = "ruff" -version = "0.12.9" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/4a/45/2e403fa7007816b5fbb324cb4f8ed3c7402a927a0a0cb2b6279879a8bfdc/ruff-0.12.9.tar.gz", hash = "sha256:fbd94b2e3c623f659962934e52c2bea6fc6da11f667a427a368adaf3af2c866a", size = 5254702, upload-time = "2025-08-14T16:08:55.2Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/ad/20/53bf098537adb7b6a97d98fcdebf6e916fcd11b2e21d15f8c171507909cc/ruff-0.12.9-py3-none-linux_armv6l.whl", hash = "sha256:fcebc6c79fcae3f220d05585229463621f5dbf24d79fdc4936d9302e177cfa3e", size = 11759705, upload-time = "2025-08-14T16:08:12.968Z" }, - { url = "https://files.pythonhosted.org/packages/20/4d/c764ee423002aac1ec66b9d541285dd29d2c0640a8086c87de59ebbe80d5/ruff-0.12.9-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:aed9d15f8c5755c0e74467731a007fcad41f19bcce41cd75f768bbd687f8535f", size = 12527042, upload-time = "2025-08-14T16:08:16.54Z" }, - { url = "https://files.pythonhosted.org/packages/8b/45/cfcdf6d3eb5fc78a5b419e7e616d6ccba0013dc5b180522920af2897e1be/ruff-0.12.9-py3-none-macosx_11_0_arm64.whl", hash = "sha256:5b15ea354c6ff0d7423814ba6d44be2807644d0c05e9ed60caca87e963e93f70", size = 11724457, upload-time = "2025-08-14T16:08:18.686Z" }, - { url = "https://files.pythonhosted.org/packages/72/e6/44615c754b55662200c48bebb02196dbb14111b6e266ab071b7e7297b4ec/ruff-0.12.9-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d596c2d0393c2502eaabfef723bd74ca35348a8dac4267d18a94910087807c53", size = 11949446, upload-time = "2025-08-14T16:08:21.059Z" }, - { url = "https://files.pythonhosted.org/packages/fd/d1/9b7d46625d617c7df520d40d5ac6cdcdf20cbccb88fad4b5ecd476a6bb8d/ruff-0.12.9-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:1b15599931a1a7a03c388b9c5df1bfa62be7ede6eb7ef753b272381f39c3d0ff", size = 11566350, upload-time = "2025-08-14T16:08:23.433Z" }, - { url = "https://files.pythonhosted.org/packages/59/20/b73132f66f2856bc29d2d263c6ca457f8476b0bbbe064dac3ac3337a270f/ruff-0.12.9-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3d02faa2977fb6f3f32ddb7828e212b7dd499c59eb896ae6c03ea5c303575756", size = 13270430, upload-time = "2025-08-14T16:08:25.837Z" }, - { url = "https://files.pythonhosted.org/packages/a2/21/eaf3806f0a3d4c6be0a69d435646fba775b65f3f2097d54898b0fd4bb12e/ruff-0.12.9-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:17d5b6b0b3a25259b69ebcba87908496e6830e03acfb929ef9fd4c58675fa2ea", size = 14264717, upload-time = "2025-08-14T16:08:27.907Z" }, - { url = "https://files.pythonhosted.org/packages/d2/82/1d0c53bd37dcb582b2c521d352fbf4876b1e28bc0d8894344198f6c9950d/ruff-0.12.9-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:72db7521860e246adbb43f6ef464dd2a532ef2ef1f5dd0d470455b8d9f1773e0", size = 13684331, upload-time = "2025-08-14T16:08:30.352Z" }, - { url = "https://files.pythonhosted.org/packages/3b/2f/1c5cf6d8f656306d42a686f1e207f71d7cebdcbe7b2aa18e4e8a0cb74da3/ruff-0.12.9-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a03242c1522b4e0885af63320ad754d53983c9599157ee33e77d748363c561ce", size = 12739151, upload-time = "2025-08-14T16:08:32.55Z" }, - { url = "https://files.pythonhosted.org/packages/47/09/25033198bff89b24d734e6479e39b1968e4c992e82262d61cdccaf11afb9/ruff-0.12.9-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9fc83e4e9751e6c13b5046d7162f205d0a7bac5840183c5beebf824b08a27340", size = 12954992, upload-time = "2025-08-14T16:08:34.816Z" }, - { url = "https://files.pythonhosted.org/packages/52/8e/d0dbf2f9dca66c2d7131feefc386523404014968cd6d22f057763935ab32/ruff-0.12.9-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:881465ed56ba4dd26a691954650de6ad389a2d1fdb130fe51ff18a25639fe4bb", size = 12899569, upload-time = "2025-08-14T16:08:36.852Z" }, - { url = "https://files.pythonhosted.org/packages/a0/bd/b614d7c08515b1428ed4d3f1d4e3d687deffb2479703b90237682586fa66/ruff-0.12.9-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:43f07a3ccfc62cdb4d3a3348bf0588358a66da756aa113e071b8ca8c3b9826af", size = 11751983, upload-time = "2025-08-14T16:08:39.314Z" }, - { url = "https://files.pythonhosted.org/packages/58/d6/383e9f818a2441b1a0ed898d7875f11273f10882f997388b2b51cb2ae8b5/ruff-0.12.9-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:07adb221c54b6bba24387911e5734357f042e5669fa5718920ee728aba3cbadc", size = 11538635, upload-time = "2025-08-14T16:08:41.297Z" }, - { url = "https://files.pythonhosted.org/packages/20/9c/56f869d314edaa9fc1f491706d1d8a47747b9d714130368fbd69ce9024e9/ruff-0.12.9-py3-none-musllinux_1_2_i686.whl", hash = "sha256:f5cd34fabfdea3933ab85d72359f118035882a01bff15bd1d2b15261d85d5f66", size = 12534346, upload-time = "2025-08-14T16:08:43.39Z" }, - { url = "https://files.pythonhosted.org/packages/bd/4b/d8b95c6795a6c93b439bc913ee7a94fda42bb30a79285d47b80074003ee7/ruff-0.12.9-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:f6be1d2ca0686c54564da8e7ee9e25f93bdd6868263805f8c0b8fc6a449db6d7", size = 13017021, upload-time = "2025-08-14T16:08:45.889Z" }, - { url = "https://files.pythonhosted.org/packages/c7/c1/5f9a839a697ce1acd7af44836f7c2181cdae5accd17a5cb85fcbd694075e/ruff-0.12.9-py3-none-win32.whl", hash = "sha256:cc7a37bd2509974379d0115cc5608a1a4a6c4bff1b452ea69db83c8855d53f93", size = 11734785, upload-time = "2025-08-14T16:08:48.062Z" }, - { url = "https://files.pythonhosted.org/packages/fa/66/cdddc2d1d9a9f677520b7cfc490d234336f523d4b429c1298de359a3be08/ruff-0.12.9-py3-none-win_amd64.whl", hash = "sha256:6fb15b1977309741d7d098c8a3cb7a30bc112760a00fb6efb7abc85f00ba5908", size = 12840654, upload-time = "2025-08-14T16:08:50.158Z" }, - { url = "https://files.pythonhosted.org/packages/ac/fd/669816bc6b5b93b9586f3c1d87cd6bc05028470b3ecfebb5938252c47a35/ruff-0.12.9-py3-none-win_arm64.whl", hash = "sha256:63c8c819739d86b96d500cce885956a1a48ab056bbcbc61b747ad494b2485089", size = 11949623, upload-time = "2025-08-14T16:08:52.233Z" }, +version = "0.12.10" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/3b/eb/8c073deb376e46ae767f4961390d17545e8535921d2f65101720ed8bd434/ruff-0.12.10.tar.gz", hash = "sha256:189ab65149d11ea69a2d775343adf5f49bb2426fc4780f65ee33b423ad2e47f9", size = 5310076, upload-time = "2025-08-21T18:23:22.595Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/24/e7/560d049d15585d6c201f9eeacd2fd130def3741323e5ccf123786e0e3c95/ruff-0.12.10-py3-none-linux_armv6l.whl", hash = "sha256:8b593cb0fb55cc8692dac7b06deb29afda78c721c7ccfed22db941201b7b8f7b", size = 11935161, upload-time = "2025-08-21T18:22:26.965Z" }, + { url = "https://files.pythonhosted.org/packages/d1/b0/ad2464922a1113c365d12b8f80ed70fcfb39764288ac77c995156080488d/ruff-0.12.10-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:ebb7333a45d56efc7c110a46a69a1b32365d5c5161e7244aaf3aa20ce62399c1", size = 12660884, upload-time = "2025-08-21T18:22:30.925Z" }, + { url = "https://files.pythonhosted.org/packages/d7/f1/97f509b4108d7bae16c48389f54f005b62ce86712120fd8b2d8e88a7cb49/ruff-0.12.10-py3-none-macosx_11_0_arm64.whl", hash = "sha256:d59e58586829f8e4a9920788f6efba97a13d1fa320b047814e8afede381c6839", size = 11872754, upload-time = "2025-08-21T18:22:34.035Z" }, + { url = "https://files.pythonhosted.org/packages/12/ad/44f606d243f744a75adc432275217296095101f83f966842063d78eee2d3/ruff-0.12.10-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:822d9677b560f1fdeab69b89d1f444bf5459da4aa04e06e766cf0121771ab844", size = 12092276, upload-time = "2025-08-21T18:22:36.764Z" }, + { url = "https://files.pythonhosted.org/packages/06/1f/ed6c265e199568010197909b25c896d66e4ef2c5e1c3808caf461f6f3579/ruff-0.12.10-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:37b4a64f4062a50c75019c61c7017ff598cb444984b638511f48539d3a1c98db", size = 11734700, upload-time = "2025-08-21T18:22:39.822Z" }, + { url = "https://files.pythonhosted.org/packages/63/c5/b21cde720f54a1d1db71538c0bc9b73dee4b563a7dd7d2e404914904d7f5/ruff-0.12.10-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2c6f4064c69d2542029b2a61d39920c85240c39837599d7f2e32e80d36401d6e", size = 13468783, upload-time = "2025-08-21T18:22:42.559Z" }, + { url = "https://files.pythonhosted.org/packages/02/9e/39369e6ac7f2a1848f22fb0b00b690492f20811a1ac5c1fd1d2798329263/ruff-0.12.10-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:059e863ea3a9ade41407ad71c1de2badfbe01539117f38f763ba42a1206f7559", size = 14436642, upload-time = "2025-08-21T18:22:45.612Z" }, + { url = "https://files.pythonhosted.org/packages/e3/03/5da8cad4b0d5242a936eb203b58318016db44f5c5d351b07e3f5e211bb89/ruff-0.12.10-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1bef6161e297c68908b7218fa6e0e93e99a286e5ed9653d4be71e687dff101cf", size = 13859107, upload-time = "2025-08-21T18:22:48.886Z" }, + { url = "https://files.pythonhosted.org/packages/19/19/dd7273b69bf7f93a070c9cec9494a94048325ad18fdcf50114f07e6bf417/ruff-0.12.10-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4f1345fbf8fb0531cd722285b5f15af49b2932742fc96b633e883da8d841896b", size = 12886521, upload-time = "2025-08-21T18:22:51.567Z" }, + { url = "https://files.pythonhosted.org/packages/c0/1d/b4207ec35e7babaee62c462769e77457e26eb853fbdc877af29417033333/ruff-0.12.10-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f68433c4fbc63efbfa3ba5db31727db229fa4e61000f452c540474b03de52a9", size = 13097528, upload-time = "2025-08-21T18:22:54.609Z" }, + { url = "https://files.pythonhosted.org/packages/ff/00/58f7b873b21114456e880b75176af3490d7a2836033779ca42f50de3b47a/ruff-0.12.10-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:141ce3d88803c625257b8a6debf4a0473eb6eed9643a6189b68838b43e78165a", size = 13080443, upload-time = "2025-08-21T18:22:57.413Z" }, + { url = "https://files.pythonhosted.org/packages/12/8c/9e6660007fb10189ccb78a02b41691288038e51e4788bf49b0a60f740604/ruff-0.12.10-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f3fc21178cd44c98142ae7590f42ddcb587b8e09a3b849cbc84edb62ee95de60", size = 11896759, upload-time = "2025-08-21T18:23:00.473Z" }, + { url = "https://files.pythonhosted.org/packages/67/4c/6d092bb99ea9ea6ebda817a0e7ad886f42a58b4501a7e27cd97371d0ba54/ruff-0.12.10-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:7d1a4e0bdfafcd2e3e235ecf50bf0176f74dd37902f241588ae1f6c827a36c56", size = 11701463, upload-time = "2025-08-21T18:23:03.211Z" }, + { url = "https://files.pythonhosted.org/packages/59/80/d982c55e91df981f3ab62559371380616c57ffd0172d96850280c2b04fa8/ruff-0.12.10-py3-none-musllinux_1_2_i686.whl", hash = "sha256:e67d96827854f50b9e3e8327b031647e7bcc090dbe7bb11101a81a3a2cbf1cc9", size = 12691603, upload-time = "2025-08-21T18:23:06.935Z" }, + { url = "https://files.pythonhosted.org/packages/ad/37/63a9c788bbe0b0850611669ec6b8589838faf2f4f959647f2d3e320383ae/ruff-0.12.10-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:ae479e1a18b439c59138f066ae79cc0f3ee250712a873d00dbafadaad9481e5b", size = 13164356, upload-time = "2025-08-21T18:23:10.225Z" }, + { url = "https://files.pythonhosted.org/packages/47/d4/1aaa7fb201a74181989970ebccd12f88c0fc074777027e2a21de5a90657e/ruff-0.12.10-py3-none-win32.whl", hash = "sha256:9de785e95dc2f09846c5e6e1d3a3d32ecd0b283a979898ad427a9be7be22b266", size = 11896089, upload-time = "2025-08-21T18:23:14.232Z" }, + { url = "https://files.pythonhosted.org/packages/ad/14/2ad38fd4037daab9e023456a4a40ed0154e9971f8d6aed41bdea390aabd9/ruff-0.12.10-py3-none-win_amd64.whl", hash = "sha256:7837eca8787f076f67aba2ca559cefd9c5cbc3a9852fd66186f4201b87c1563e", size = 13004616, upload-time = "2025-08-21T18:23:17.422Z" }, + { url = "https://files.pythonhosted.org/packages/24/3c/21cf283d67af33a8e6ed242396863af195a8a6134ec581524fd22b9811b6/ruff-0.12.10-py3-none-win_arm64.whl", hash = "sha256:cc138cc06ed9d4bfa9d667a65af7172b47840e1a98b02ce7011c391e54635ffc", size = 12074225, upload-time = "2025-08-21T18:23:20.137Z" }, ] [[package]] @@ -4824,11 +4832,11 @@ wheels = [ [[package]] name = "typing-extensions" -version = "4.14.1" +version = "4.15.0" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/98/5a/da40306b885cc8c09109dc2e1abd358d5684b1425678151cdaed4731c822/typing_extensions-4.14.1.tar.gz", hash = "sha256:38b39f4aeeab64884ce9f74c94263ef78f3c22467c8724005483154c26648d36", size = 107673, upload-time = "2025-07-04T13:28:34.16Z" } +sdist = { url = "https://files.pythonhosted.org/packages/72/94/1a15dd82efb362ac84269196e94cf00f187f7ed21c242792a923cdb1c61f/typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466", size = 109391, upload-time = "2025-08-25T13:49:26.313Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/b5/00/d631e67a838026495268c2f6884f3711a15a9a2a96cd244fdaea53b823fb/typing_extensions-4.14.1-py3-none-any.whl", hash = "sha256:d1e1e3b58374dc93031d6eda2420a48ea44a36c2b4766a4fdeb3710755731d76", size = 43906, upload-time = "2025-07-04T13:28:32.743Z" }, + { url = "https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" }, ] [[package]] From 1d74a97ba65b9b9ea074ef870ab70907be33918c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 25 Aug 2025 13:50:10 -0700 Subject: [PATCH 34/51] torqued: apply offset (#36005) * torqued: apply latAccelOffset to torque control feed forward * test learned latAccelOffset captures roll compensation bias on straight road driving, when the device is not flush in roll relative to the car * test correct torqued latAccelOffset parameter convergence --------- Co-authored-by: felsager --- selfdrive/controls/lib/latcontrol_torque.py | 6 +- .../tests/test_torqued_lat_accel_offset.py | 71 +++++++++++++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 75 insertions(+), 4 deletions(-) create mode 100644 selfdrive/controls/tests/test_torqued_lat_accel_offset.py diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index dffe85c473..5a2814e089 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/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 diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py new file mode 100644 index 0000000000..5ba9980020 --- /dev/null +++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py @@ -0,0 +1,71 @@ +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 = 0.1 +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 = 1.0 +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) < 0.03 + +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) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8e4ff1e2a8..7d21526144 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file +866f2cb1f0e49b2cb7115aa8131164b3a75fb2c5 \ No newline at end of file From c4a7f25b626886f9143d0e9bae1eaa37a9083538 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 15:17:37 -0700 Subject: [PATCH 35/51] raylib: refactor NetworkManager constants (#36056) * new file * import * and this --- system/ui/lib/networkmanager.py | 44 +++++++++++++++++++++++++++++++++ system/ui/lib/wifi_manager.py | 27 ++++---------------- 2 files changed, 49 insertions(+), 22 deletions(-) create mode 100644 system/ui/lib/networkmanager.py diff --git a/system/ui/lib/networkmanager.py b/system/ui/lib/networkmanager.py new file mode 100644 index 0000000000..07b5d42f4b --- /dev/null +++ b/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 diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 4cb741bc95..7bd292fa43 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -14,6 +14,11 @@ from dbus_next import BusType, Variant, Message from dbus_next.errors import DBusError from dbus_next.constants import MessageType +from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_IFACE, NM_SETTINGS_PATH, NM_SETTINGS_IFACE, + NM_CONNECTION_IFACE, NM_WIRELESS_IFACE, NM_PROPERTIES_IFACE, + NM_DEVICE_IFACE, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, + NMDeviceState) + try: from openpilot.common.params import Params except ImportError: @@ -23,32 +28,10 @@ from openpilot.common.swaglog import cloudlog T = TypeVar("T") -# NetworkManager constants -NM = "org.freedesktop.NetworkManager" -NM_PATH = '/org/freedesktop/NetworkManager' -NM_IFACE = 'org.freedesktop.NetworkManager' -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_STATE_REASON_SUPPLICANT_DISCONNECT = 8 - TETHERING_IP_ADDRESS = "192.168.43.1" DEFAULT_TETHERING_PASSWORD = "swagswagcomma" -# NetworkManager device states -class NMDeviceState(IntEnum): - DISCONNECTED = 30 - PREPARE = 40 - NEED_AUTH = 60 - IP_CONFIG = 70 - ACTIVATED = 100 - - class SecurityType(IntEnum): OPEN = 0 WPA = 1 From e89c6b3b88569916a47067e56cd51d0fbc96e549 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 15:23:14 -0700 Subject: [PATCH 36/51] raylib: remove redundant networking class (#36057) remove a class --- selfdrive/ui/layouts/network.py | 17 ----------------- selfdrive/ui/layouts/settings/settings.py | 8 ++++++-- 2 files changed, 6 insertions(+), 19 deletions(-) delete mode 100644 selfdrive/ui/layouts/network.py diff --git a/selfdrive/ui/layouts/network.py b/selfdrive/ui/layouts/network.py deleted file mode 100644 index 856be26e97..0000000000 --- a/selfdrive/ui/layouts/network.py +++ /dev/null @@ -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() diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 674e5005f4..7d2a23576e 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/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 WifiManagerWrapper from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.network import WifiManagerUI # Settings close button SETTINGS_CLOSE_TEXT = "×" @@ -53,9 +54,12 @@ class SettingsLayout(Widget): self._current_panel = PanelType.DEVICE # Panel configuration + self.wifi_manager = WifiManagerWrapper() + self.wifi_ui = WifiManagerUI(self.wifi_manager) + self._panels = { PanelType.DEVICE: PanelInfo("Device", DeviceLayout()), - PanelType.NETWORK: PanelInfo("Network", NetworkLayout()), + PanelType.NETWORK: PanelInfo("Network", self.wifi_ui), PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()), PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()), PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()), From 15fcbf24f1b2f1ecc920eb48e39dbeb2c0747e59 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 15:52:13 -0700 Subject: [PATCH 37/51] raylib home ui: show/hide events (#36058) * it's a widget * proper events * bottom --- selfdrive/ui/layouts/main.py | 12 +++++++++--- selfdrive/ui/layouts/settings/settings.py | 14 ++++++++++---- system/ui/widgets/__init__.py | 7 +++++++ 3 files changed, 26 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index 3ab8525d33..777d2f4c3f 100644 --- a/selfdrive/ui/layouts/main.py +++ b/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): diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 7d2a23576e..fe35ea094a 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -44,7 +44,7 @@ class PanelType(IntEnum): @dataclass class PanelInfo: name: str - instance: object + instance: Widget button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) @@ -153,8 +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 close_settings(self): - if self._close_callback: - self._close_callback() + def show_event(self): + super().show_event() + self._panels[self._current_panel].instance.show_event() + + def hide_event(self): + super().hide_event() + self._panels[self._current_panel].instance.hide_event() diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index d45f48ac38..cca2cec7ad 100644 --- a/system/ui/widgets/__init__.py +++ b/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""" + From 2dc0f97c933cf4c684aeb1ac95faa752f9790e3b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 22:29:14 -0700 Subject: [PATCH 38/51] raylib: fix slow Toggles panel first load (#36061) fix slow load on toggles page --- system/ui/widgets/list_view.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index e871eef0a1..a8d81a8ba2 100644 --- a/system/ui/widgets/list_view.py +++ b/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 From 7a2f2ddf32236fd497a6539ce7898a6cd915ca19 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 22:30:09 -0700 Subject: [PATCH 39/51] raylib: speed up network panel first load (#36062) * debug * debug * clean up --- system/ui/widgets/network.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0bb759a919..2ecfd36be7 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -44,6 +44,7 @@ class WifiManagerUI(Widget): 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_buttons: dict[str, Button] = {} @@ -64,6 +65,10 @@ class WifiManagerUI(Widget): self.wifi_manager.start() self.wifi_manager.connect() + 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: From a70e4c3074accd67146ffa62905cc9722a9dfe60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 22:30:27 -0700 Subject: [PATCH 40/51] raylib: rm debug print --- selfdrive/ui/lib/prime_state.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index da2ff899dd..a1b2472f30 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -25,7 +25,6 @@ class PrimeType(IntEnum): @lru_cache(maxsize=1) def get_token(dongle_id: str, t: int): - print('getting token') return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) From 5359f6d35464448491e1d036d6970ee67addc821 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 01:23:59 -0700 Subject: [PATCH 41/51] raylib: clean up networking (#36039) * stasj * remove one of many classes * clean up and fix * clean up * stash/draft: oh this is sick * so epic * some clean up * what the fuck, it doesn't even use these * more epic initializers + make it kind of work * so simple, wonder if we should further 2x reduce line count * i've never ever seen this pattern b4, rm * remove bs add niceness * minor organization * set security type and support listing and rming conns * forget and connect * jeepney is actually pretty good, it's 2x faster to get wifi device (0.005s to 0.002s) * temp * do blocking add in worker thread * add jeepney * lets finish with python-dbus first then evaluate - revert jeepney This reverts commit 7de04b11c2285c298bb1ec907782026c795ab207. and * safe wrap * missing * saved connections * set rest of callbacks * skip hidden APs, simplify _running * add state management * either wrong password or disconnected for now * i can't believe we didn't check this... * disable button if unsupported!!! * hide/show event no lag hopefully yayay * fix hide event * remove old wifi manager * cache wifi device path + some clean up * more clean up * more clean up * temp disable blocking prime thread * hackily get device path once * ok * debug * fix open networks * debug * clean up * all threads wait for device path, and user functions dont ever attempt to get, just skip * same place * helper * Revert "helper" This reverts commit e237d9a720915fb6bd67c539123d3e2d9d582ce1. * organize? * Revert "organize?" This reverts commit 3aca3e5d629c947711ade88799febeb3f61eda87. * c word is a bad word * rk monitor debug for now * nothing crazy * improve checkmark responsiveness * when forgetting: this is correct, but feels unresponsive * this feels good * need these two to keep forgetting and activating responsive * sort by connected, strength, then name * handle non-critical race condition * log more * unused * oh jubilee is sick you can block on signals!! * proof of concept to see if works on device whoiops * so sucking fick * ah this is not generic, it's a filter on the return vals * flip around to not drop * oh thank god * fix * stash * atomic replace * clean up * add old to keep track of what's moved over * these are already moved * so much junk * so much junk * more * tethering wasn't used so we can ignore that for now * no params now * rm duplicate imports * not used anymore * move get wifi device over to jeepney! ~no additional lines * request scan w/ keepney * get_conns * _connection_by_ssid_jeepney is 2x faster (0.01 vs 0.02s) * do forget and activate * _update_networks matches! * rm old update_networks * replace connect_to_network, about same time (yes i removed thread call) * no more python-dbus!k * doesn't hurt * AP.from_dbus: actually handle incorrect paths w/ jeep + more efficient single call * properly handle errors * it's jeepney now * less state * using the thread safe router passes a race condition test that conn failed! * bad to copy from old wifimanager * fix conn usage * clean up * curious if locks are lagging * not for now * Revert "curious if locks are lagging" This reverts commit 085dd185b083f5905a4e71ba3e8c0565175e04aa. * clean up _monitor_state * remove tests * clean up dataclasses * sort * lint: okay fine it can be non by virtue of exiting right at the perfect time * some network clean up * some wifi manager clean up * this is handled * stop can be called manually, from deleting wifimanager, or exiting python. some protection * its not mutable anymore * scan on enter * clean up * back * lint * catch dbus fail to connect catch dbus fail to connect --- pyproject.toml | 2 +- selfdrive/ui/layouts/settings/settings.py | 8 +- system/ui/lib/wifi_manager.py | 970 ++++++++-------------- system/ui/setup.py | 5 +- system/ui/updater.py | 5 +- system/ui/widgets/network.py | 58 +- uv.lock | 22 +- 7 files changed, 385 insertions(+), 685 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 7103163458..556b78009d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -101,8 +101,8 @@ dev = [ "av", "azure-identity", "azure-storage-blob", - "dbus-next", "dictdiffer", + "jeepney", "matplotlib", "opencv-python-headless", "parameterized >=0.8, <0.9", diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index fe35ea094a..a731a9158c 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -9,7 +9,7 @@ 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 WifiManagerWrapper +from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.network import WifiManagerUI @@ -54,12 +54,12 @@ class SettingsLayout(Widget): self._current_panel = PanelType.DEVICE # Panel configuration - self.wifi_manager = WifiManagerWrapper() - self.wifi_ui = WifiManagerUI(self.wifi_manager) + wifi_manager = WifiManager() + wifi_manager.set_active(False) self._panels = { PanelType.DEVICE: PanelInfo("Device", DeviceLayout()), - PanelType.NETWORK: PanelInfo("Network", self.wifi_ui), + PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)), PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()), PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()), PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()), diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 7bd292fa43..96940c2b3b 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,35 +1,35 @@ -import asyncio -import concurrent.futures -import copy +import atexit import threading import time import uuid from collections.abc import Callable from dataclasses import dataclass from enum import IntEnum -from typing import TypeVar +from typing import Any -from dbus_next.aio import MessageBus -from dbus_next import BusType, Variant, Message -from dbus_next.errors import DBusError -from dbus_next.constants import MessageType +from jeepney import DBusAddress, new_method_call +from jeepney.bus_messages import MatchRule, message_bus +from jeepney.io.blocking import open_dbus_connection as open_dbus_connection_blocking +from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading +from jeepney.low_level import MessageType +from jeepney.wrappers import Properties -from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_IFACE, NM_SETTINGS_PATH, NM_SETTINGS_IFACE, - NM_CONNECTION_IFACE, NM_WIRELESS_IFACE, NM_PROPERTIES_IFACE, - NM_DEVICE_IFACE, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, - NMDeviceState) - -try: - from openpilot.common.params import Params -except ImportError: - # Params/Cythonized modules are not available in zipapp - Params = None from openpilot.common.swaglog import cloudlog - -T = TypeVar("T") +from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_802_11_AP_SEC_PAIR_WEP40, + NM_802_11_AP_SEC_PAIR_WEP104, NM_802_11_AP_SEC_GROUP_WEP40, + NM_802_11_AP_SEC_GROUP_WEP104, NM_802_11_AP_SEC_KEY_MGMT_PSK, + NM_802_11_AP_SEC_KEY_MGMT_802_1X, NM_802_11_AP_FLAGS_NONE, + NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS, + NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH, + NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE, + NM_DEVICE_TYPE_WIFI, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, + NM_DEVICE_STATE_REASON_NEW_ACTIVATION, + NMDeviceState) TETHERING_IP_ADDRESS = "192.168.43.1" DEFAULT_TETHERING_PASSWORD = "swagswagcomma" +SIGNAL_QUEUE_SIZE = 10 +SCAN_PERIOD_SECONDS = 10 class SecurityType(IntEnum): @@ -40,673 +40,377 @@ class SecurityType(IntEnum): UNSUPPORTED = 4 -@dataclass -class NetworkInfo: +def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: + wpa_props = wpa_flags | rsn_flags + + # obtained by looking at flags of networks in the office as reported by an Android phone + supports_wpa = (NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 | + NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK) + + if (flags == NM_802_11_AP_FLAGS_NONE) or ((flags & NM_802_11_AP_FLAGS_WPS) and not (wpa_props & supports_wpa)): + return SecurityType.OPEN + elif (flags & NM_802_11_AP_FLAGS_PRIVACY) and (wpa_props & supports_wpa) and not (wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X): + return SecurityType.WPA + else: + cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}") + return SecurityType.UNSUPPORTED + + +@dataclass(frozen=True) +class Network: ssid: str strength: int is_connected: bool security_type: SecurityType - path: str - bssid: str - is_saved: bool = False - # saved_path: str + is_saved: bool + + @classmethod + def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network": + # we only want to show the strongest AP for each Network/SSID + strongest_ap = max(aps, key=lambda ap: ap.strength) + is_connected = any(ap.is_connected for ap in aps) + security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags) + + return cls( + ssid=ssid, + strength=strongest_ap.strength, + is_connected=is_connected and is_saved, + security_type=security_type, + is_saved=is_saved, + ) -@dataclass -class WifiManagerCallbacks: - need_auth: Callable[[str], None] | None = None - activated: Callable[[], None] | None = None - forgotten: Callable[[str], None] | None = None - networks_updated: Callable[[list[NetworkInfo]], None] | None = None - connection_failed: Callable[[str, str], None] | None = None # Added for error feedback +@dataclass(frozen=True) +class AccessPoint: + ssid: str + bssid: str + strength: int + is_connected: bool + flags: int + wpa_flags: int + rsn_flags: int + ap_path: str + + @classmethod + def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap_path: str) -> "AccessPoint": + ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace") + bssid = str(ap_props['HwAddress'][1]) + strength = int(ap_props['Strength'][1]) + flags = int(ap_props['Flags'][1]) + wpa_flags = int(ap_props['WpaFlags'][1]) + rsn_flags = int(ap_props['RsnFlags'][1]) + + return cls( + ssid=ssid, + bssid=bssid, + strength=strength, + is_connected=ap_path == active_ap_path, + flags=flags, + wpa_flags=wpa_flags, + rsn_flags=rsn_flags, + ap_path=ap_path, + ) class WifiManager: - def __init__(self, callbacks): - self.callbacks: WifiManagerCallbacks = callbacks - self.networks: list[NetworkInfo] = [] - self.bus: MessageBus = None - self.device_path: str = "" - self.device_proxy = None - self.saved_connections: dict[str, str] = {} - self.active_ap_path: str = "" - self.scan_task: asyncio.Task | None = None - # Set tethering ssid as "weedle" + first 4 characters of a dongle id - self._tethering_ssid = "weedle" - if Params is not None: - dongle_id = Params().get("DongleId") - if dongle_id: - self._tethering_ssid += "-" + dongle_id[:4] - self.running: bool = True - self._current_connection_ssid: str | None = None - - async def connect(self) -> None: - """Connect to the DBus system bus.""" - try: - self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect() - while not await self._find_wifi_device(): - await asyncio.sleep(1) - - await self._setup_signals(self.device_path) - self.active_ap_path = await self.get_active_access_point() - await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD) - self.saved_connections = await self._get_saved_connections() - self.scan_task = asyncio.create_task(self._periodic_scan()) - except DBusError as e: - cloudlog.error(f"Failed to connect to DBus: {e}") - raise - except Exception as e: - cloudlog.error(f"Unexpected error during connect: {e}") - raise - - async def shutdown(self) -> None: - self.running = False - if self.scan_task: - self.scan_task.cancel() - try: - await self.scan_task - except asyncio.CancelledError: - pass - if self.bus: - self.bus.disconnect() + def __init__(self): + self._networks = [] # a network can be comprised of multiple APs + self._active = True # used to not run when not in settings + self._exit = False - async def _request_scan(self) -> None: + # DBus connections try: - interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) - await interface.call_request_scan({}) - except DBusError as e: - cloudlog.warning(f"Scan request failed: {str(e)}") + self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM")) # used by scanner / general method calls + self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM") # used by state monitor thread + self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE) + except FileNotFoundError: + cloudlog.exception("Failed to connect to system D-Bus") + self._exit = True + + # Store wifi device path + self._wifi_device: str | None = None + + # State + self._connecting_to_ssid: str = "" + self._last_network_update: float = 0.0 + + # Callbacks + # TODO: implement a callback queue to avoid blocking UI thread + self._need_auth: Callable[[str], None] | None = None + self._activated: Callable[[], None] | None = None + self._forgotten: Callable[[str], None] | None = None + self._networks_updated: Callable[[list[Network]], None] | None = None + self._disconnected: Callable[[], None] | None = None + + self._lock = threading.Lock() + + self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True) + self._scan_thread.start() + + self._state_thread = threading.Thread(target=self._monitor_state, daemon=True) + self._state_thread.start() + + atexit.register(self.stop) + + def set_callbacks(self, need_auth: Callable[[str], None], + activated: Callable[[], None] | None, + forgotten: Callable[[str], None], + networks_updated: Callable[[list[Network]], None], + disconnected: Callable[[], None]): + self._need_auth = need_auth + self._activated = activated + self._forgotten = forgotten + self._networks_updated = networks_updated + self._disconnected = disconnected + + def set_active(self, active: bool): + self._active = active + + # Scan immediately if we haven't scanned in a while + if active and time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS / 2: + self._last_network_update = 0.0 + + def _monitor_state(self): + device_path = self._wait_for_wifi_device() + if device_path is None: + return - async def get_active_access_point(self): - try: - props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE) - ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint') - return ap_path.value - except DBusError as e: - cloudlog.error(f"Error fetching active access point: {str(e)}") - return '' - - async def forget_connection(self, ssid: str) -> bool: - path = self.saved_connections.get(ssid) - if not path: - return False + rule = MatchRule( + type="signal", + interface=NM_DEVICE_IFACE, + member="StateChanged", + path=device_path, + ) - try: - nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) - await nm_iface.call_delete() + # Filter for StateChanged signal + self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule)) - if self._current_connection_ssid == ssid: - self._current_connection_ssid = None + with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q: + while not self._exit: + # TODO: always run, and ensure callbacks don't block UI thread + if not self._active: + time.sleep(1) + continue - if ssid in self.saved_connections: - del self.saved_connections[ssid] + # Block until a matching signal arrives + try: + msg = self._conn_monitor.recv_until_filtered(q, timeout=1) + except TimeoutError: + continue - for network in self.networks: - if network.ssid == ssid: - network.is_saved = False - network.is_connected = False + new_state, previous_state, change_reason = msg.body + + # BAD PASSWORD + if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid): + self.forget_connection(self._connecting_to_ssid, block=True) + if self._need_auth is not None: + self._need_auth(self._connecting_to_ssid) + self._connecting_to_ssid = "" + + elif new_state == NMDeviceState.ACTIVATED: + if self._activated is not None: + self._update_networks() + self._activated() + self._connecting_to_ssid = "" + + elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION: + self._connecting_to_ssid = "" + if self._disconnected is not None: + self._disconnected() + + def _network_scanner(self): + self._wait_for_wifi_device() + + while not self._exit: + if self._active: + if time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS: + # Scan for networks every 10 seconds + # TODO: should update when scan is complete (PropertiesChanged), but this is more than good enough for now + self._update_networks() + self._request_scan() + self._last_network_update = time.monotonic() + time.sleep(1 / 2.) + + def _wait_for_wifi_device(self) -> str | None: + with self._lock: + device_path: str | None = None + while not self._exit: + device_path = self._get_wifi_device() + if device_path is not None: break + time.sleep(1) + return device_path - # Notify UI of forgotten connection - if self.callbacks.networks_updated: - self.callbacks.networks_updated(copy.deepcopy(self.networks)) + def _get_wifi_device(self) -> str | None: + if self._wifi_device is not None: + return self._wifi_device - return True - except DBusError as e: - cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") - return False + device_paths = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0] + for device_path in device_paths: + dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE) + dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1] - async def activate_connection(self, ssid: str) -> bool: - connection_path = self.saved_connections.get(ssid) - if not connection_path: - return False - try: - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - await nm_iface.call_activate_connection(connection_path, self.device_path, "/") - return True - except DBusError as e: - cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}") - return False - - async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: - """Connect to a selected Wi-Fi network.""" - try: - self._current_connection_ssid = ssid - - if ssid in self.saved_connections: - # Forget old connection if new password provided - if password: - await self.forget_connection(ssid) - await asyncio.sleep(0.2) # NetworkManager delay - else: - # Just activate existing connection - await self.activate_connection(ssid) - return + if dev_type == NM_DEVICE_TYPE_WIFI: + self._wifi_device = device_path + break - connection = { - 'connection': { - 'type': Variant('s', '802-11-wireless'), - 'uuid': Variant('s', str(uuid.uuid4())), - 'id': Variant('s', f'openpilot connection {ssid}'), - 'autoconnect-retries': Variant('i', 0), - }, - '802-11-wireless': { - 'ssid': Variant('ay', ssid.encode('utf-8')), - 'hidden': Variant('b', is_hidden), - 'mode': Variant('s', 'infrastructure'), - }, - 'ipv4': { - 'method': Variant('s', 'auto'), - 'dns-priority': Variant('i', 600), - }, - 'ipv6': {'method': Variant('s', 'ignore')}, - } + return self._wifi_device - if bssid: - connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8')) + def _get_connections(self) -> list[str]: + settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) + return list(self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]) - if password: - connection['802-11-wireless-security'] = { - 'key-mgmt': Variant('s', 'wpa-psk'), - 'auth-alg': Variant('s', 'open'), - 'psk': Variant('s', password), - } + def _connection_by_ssid(self, ssid: str, known_connections: list[str] | None = None) -> str | None: + for conn_path in known_connections or self._get_connections(): + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, "GetSettings")) - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/") - except Exception as e: - self._current_connection_ssid = None - cloudlog.error(f"Error connecting to network: {e}") - # Notify UI of failure - if self.callbacks.connection_failed: - self.callbacks.connection_failed(ssid, str(e)) - - def is_saved(self, ssid: str) -> bool: - return ssid in self.saved_connections - - async def _find_wifi_device(self) -> bool: - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - devices = await nm_iface.get_devices() - - for device_path in devices: - device = await self.bus.introspect(NM, device_path) - device_proxy = self.bus.get_proxy_object(NM, device_path, device) - device_interface = device_proxy.get_interface(NM_DEVICE_IFACE) - device_type = await device_interface.get_device_type() # type: ignore[attr-defined] - if device_type == 2: # Wi-Fi device - self.device_path = device_path - self.device_proxy = device_proxy - return True - - return False - - async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool: - """Create a WiFi tethering connection.""" - if len(password) < 8: - print("Tethering password must be at least 8 characters") - return False + # ignore connections removed during iteration (need auth, etc.) + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get connection properties for {conn_path}") + continue - try: - # First, check if a hotspot connection already exists - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - connection_paths = await settings_iface.call_list_connections() + settings = reply.body[0] + if "802-11-wireless" in settings and settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") == ssid: + return conn_path + return None - # Look for an existing hotspot connection - for path in connection_paths: - try: - settings = await self._get_connection_settings(path) - conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value - wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value - - if conn_type == '802-11-wireless' and wifi_mode == 'ap': - # Extract the SSID to check - connection_ssid = self._extract_ssid(settings) - if connection_ssid == ssid: - return True - except DBusError: - continue + def connect_to_network(self, ssid: str, password: str): + def worker(): + # Clear all connections that may already exist to the network we are connecting to + self._connecting_to_ssid = ssid + self.forget_connection(ssid, block=True) + + is_hidden = False connection = { 'connection': { - 'id': Variant('s', 'Hotspot'), - 'uuid': Variant('s', str(uuid.uuid4())), - 'type': Variant('s', '802-11-wireless'), - 'interface-name': Variant('s', 'wlan0'), - 'autoconnect': Variant('b', False), + 'type': ('s', '802-11-wireless'), + 'uuid': ('s', str(uuid.uuid4())), + 'id': ('s', f'openpilot connection {ssid}'), + 'autoconnect-retries': ('i', 0), }, '802-11-wireless': { - 'band': Variant('s', 'bg'), - 'mode': Variant('s', 'ap'), - 'ssid': Variant('ay', ssid.encode('utf-8')), - }, - '802-11-wireless-security': { - 'group': Variant('as', ['ccmp']), - 'key-mgmt': Variant('s', 'wpa-psk'), - 'pairwise': Variant('as', ['ccmp']), - 'proto': Variant('as', ['rsn']), - 'psk': Variant('s', password), + 'ssid': ('ay', ssid.encode("utf-8")), + 'hidden': ('b', is_hidden), + 'mode': ('s', 'infrastructure'), }, 'ipv4': { - 'method': Variant('s', 'shared'), - 'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]), - 'gateway': Variant('s', TETHERING_IP_ADDRESS), - 'never-default': Variant('b', True), - }, - 'ipv6': { - 'method': Variant('s', 'ignore'), + 'method': ('s', 'auto'), + 'dns-priority': ('i', 600), }, + 'ipv6': {'method': ('s', 'ignore')}, } - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - new_connection = await settings_iface.call_add_connection(connection) - print(f"Added tethering connection with path: {new_connection}") - return True - except DBusError as e: - print(f"Failed to add tethering connection: {e}") - return False - except Exception as e: - print(f"Unexpected error adding tethering connection: {e}") - return False - - async def get_tethering_password(self) -> str: - """Get the current tethering password.""" - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if hotspot_path: - conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) - secrets = await conn_iface.call_get_secrets('802-11-wireless-security') - if secrets and '802-11-wireless-security' in secrets: - psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value - return str(psk) if psk is not None else "" - return "" - except DBusError as e: - print(f"Failed to get tethering password: {e}") - return "" - except Exception as e: - print(f"Unexpected error getting tethering password: {e}") - return "" - - async def set_tethering_password(self, password: str) -> bool: - """Set the tethering password.""" - if len(password) < 8: - cloudlog.error("Tethering password must be at least 8 characters") - return False + if password: + connection['802-11-wireless-security'] = { + 'key-mgmt': ('s', 'wpa-psk'), + 'auth-alg': ('s', 'open'), + 'psk': ('s', password), + } - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if not hotspot_path: - print("No hotspot connection found") - return False - - # Update the connection settings with new password - settings = await self._get_connection_settings(hotspot_path) - if '802-11-wireless-security' not in settings: - settings['802-11-wireless-security'] = {} - settings['802-11-wireless-security']['psk'] = Variant('s', password) - - # Apply changes - conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) - await conn_iface.call_update(settings) - - # Check if connection is active and restart if needed - is_active = False - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - active_connections = await nm_iface.get_active_connections() - - for conn_path in active_connections: - props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) - conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') - if conn_id_path.value == hotspot_path: - is_active = True - await nm_iface.call_deactivate_connection(conn_path) - break + settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) + self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,))) + self.activate_connection(ssid, block=True) + + threading.Thread(target=worker, daemon=True).start() + + def forget_connection(self, ssid: str, block: bool = False): + def worker(): + conn_path = self._connection_by_ssid(ssid) + if conn_path is not None: + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete')) + + if self._forgotten is not None: + self._update_networks() + self._forgotten(ssid) + + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() + + def activate_connection(self, ssid: str, block: bool = False): + def worker(): + conn_path = self._connection_by_ssid(ssid) + if conn_path is not None: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - if is_active: - await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/") + self._connecting_to_ssid = ssid + self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo', + (conn_path, self._wifi_device, "/"))) - print("Tethering password updated successfully") - return True - except DBusError as e: - print(f"Failed to set tethering password: {e}") - return False - except Exception as e: - print(f"Unexpected error setting tethering password: {e}") - return False + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() - async def is_tethering_active(self) -> bool: - """Check if tethering is active for the specified SSID.""" - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if not hotspot_path: - return False + def _request_scan(self): + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - active_connections = await nm_iface.get_active_connections() + wifi_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_WIRELESS_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'RequestScan', 'a{sv}', ({},))) - for conn_path in active_connections: - props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) - conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to request scan: {reply}") - if conn_id_path.value == hotspot_path: - return True + def _update_networks(self): + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - return False - except Exception: - return False + # returns '/' if no active AP + wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) + active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] + ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] - async def _periodic_scan(self): - while self.running: - try: - await self._request_scan() - await asyncio.sleep(30) - except asyncio.CancelledError: - break - except DBusError as e: - cloudlog.error(f"Scan failed: {e}") - await asyncio.sleep(5) - - async def _setup_signals(self, device_path: str) -> None: - rules = [ - f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'", - f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'", - f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'", - f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'", - ] - for rule in rules: - await self._add_match_rule(rule) - - # Set up signal handlers - self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed) - self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed) - - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - settings_iface.on_new_connection(self._on_new_connection) - settings_iface.on_connection_removed(self._on_connection_removed) - - def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): - if interface == NM_WIRELESS_IFACE and 'LastScan' in changed: - asyncio.create_task(self._refresh_networks()) - elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: - new_ap_path = changed["ActiveAccessPoint"].value - if self.active_ap_path != new_ap_path: - self.active_ap_path = new_ap_path - - def _on_state_changed(self, new_state: int, old_state: int, reason: int): - if new_state == NMDeviceState.ACTIVATED: - if self.callbacks.activated: - self.callbacks.activated() - self._current_connection_ssid = None - asyncio.create_task(self._refresh_networks()) - elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): - for network in self.networks: - network.is_connected = False - - # BAD PASSWORD - if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: - if self._current_connection_ssid: - asyncio.create_task(self.forget_connection(self._current_connection_ssid)) - self.callbacks.need_auth(self._current_connection_ssid) - else: - # Try to find the network from active_ap_path - for network in self.networks: - if network.path == self.active_ap_path: - asyncio.create_task(self.forget_connection(network.ssid)) - self.callbacks.need_auth(network.ssid) - break - else: - # Couldn't identify the network that needs auth - cloudlog.error("Network needs authentication but couldn't identify which one") - - def _on_new_connection(self, path: str) -> None: - """Callback for NewConnection signal.""" - asyncio.create_task(self._add_saved_connection(path)) - - def _on_connection_removed(self, path: str) -> None: - """Callback for ConnectionRemoved signal.""" - for ssid, p in list(self.saved_connections.items()): - if path == p: - del self.saved_connections[ssid] - - if self.callbacks.forgotten: - self.callbacks.forgotten(ssid) - break + aps: dict[str, list[AccessPoint]] = {} - async def _add_saved_connection(self, path: str) -> None: - """Add a new saved connection to the dictionary.""" - try: - settings = await self._get_connection_settings(path) - if ssid := self._extract_ssid(settings): - self.saved_connections[ssid] = path - except DBusError as e: - cloudlog.error(f"Failed to add connection {path}: {e}") - - def _extract_ssid(self, settings: dict) -> str | None: - """Extract SSID from connection settings.""" - ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value - return bytes(ssid_variant).decode('utf-8') if ssid_variant else None - - async def _add_match_rule(self, rule): - """Add a match rule on the bus.""" - reply = await self.bus.call( - Message( - message_type=MessageType.METHOD_CALL, - destination='org.freedesktop.DBus', - interface="org.freedesktop.DBus", - path='/org/freedesktop/DBus', - member='AddMatch', - signature='s', - body=[rule], - ) - ) + for ap_path in ap_paths: + ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) + ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) - assert reply.message_type == MessageType.METHOD_RETURN - return reply + # some APs have been seen dropping off during iteration + if ap_props.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get AP properties for {ap_path}") + continue - async def _refresh_networks(self): - """Get a list of available networks via NetworkManager.""" - wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) - access_points = await wifi_iface.get_access_points() - self.active_ap_path = await self.get_active_access_point() - network_dict = {} - for ap_path in access_points: try: - props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE) - properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint') - ssid_variant = properties['Ssid'].value - ssid = bytes(ssid_variant).decode('utf-8') - if not ssid: + ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) + if ap.ssid == "": continue - bssid = properties.get('HwAddress', Variant('s', '')).value - strength = properties['Strength'].value - flags = properties['Flags'].value - wpa_flags = properties['WpaFlags'].value - rsn_flags = properties['RsnFlags'].value - - # May be multiple access points for each SSID. Use first for ssid - # and security type, then update the rest using all APs - if ssid not in network_dict: - network_dict[ssid] = NetworkInfo( - ssid=ssid, - strength=0, - security_type=self._get_security_type(flags, wpa_flags, rsn_flags), - path="", - bssid="", - is_connected=False, - is_saved=ssid in self.saved_connections - ) - - existing_network = network_dict.get(ssid) - if existing_network.strength < strength: - existing_network.strength = strength - existing_network.path = ap_path - existing_network.bssid = bssid - if self.active_ap_path == ap_path: - existing_network.is_connected = self._current_connection_ssid != ssid - - except DBusError as e: - cloudlog.error(f"Error fetching networks: {e}") - except Exception as e: - cloudlog.error({e}) - - self.networks = sorted( - network_dict.values(), - key=lambda network: ( - not network.is_connected, - -network.strength, # Higher signal strength first - network.ssid.lower(), - ), - ) - - if self.callbacks.networks_updated: - self.callbacks.networks_updated(copy.deepcopy(self.networks)) + if ap.ssid not in aps: + aps[ap.ssid] = [] - async def _get_connection_settings(self, path): - """Fetch connection settings for a specific connection path.""" - try: - settings = await self._get_interface(NM, path, NM_CONNECTION_IFACE) - return await settings.call_get_settings() - except DBusError as e: - cloudlog.error(f"Failed to get settings for {path}: {str(e)}") - return {} - - async def _process_chunk(self, paths_chunk): - """Process a chunk of connection paths.""" - tasks = [self._get_connection_settings(path) for path in paths_chunk] - return await asyncio.gather(*tasks, return_exceptions=True) - - async def _get_saved_connections(self) -> dict[str, str]: - try: - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - connection_paths = await settings_iface.call_list_connections() - saved_ssids: dict[str, str] = {} - batch_size = 20 - for i in range(0, len(connection_paths), batch_size): - chunk = connection_paths[i : i + batch_size] - results = await self._process_chunk(chunk) - for path, config in zip(chunk, results, strict=True): - if isinstance(config, dict) and '802-11-wireless' in config: - if ssid := self._extract_ssid(config): - saved_ssids[ssid] = path - return saved_ssids - except DBusError as e: - cloudlog.error(f"Error fetching saved connections: {str(e)}") - return {} - - async def _get_interface(self, bus_name: str, path: str, name: str): - introspection = await self.bus.introspect(bus_name, path) - proxy = self.bus.get_proxy_object(bus_name, path, introspection) - return proxy.get_interface(name) - - def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: - """Determine the security type based on flags.""" - if flags == 0 and not (wpa_flags or rsn_flags): - return SecurityType.OPEN - if rsn_flags & 0x200: # SAE (WPA3 Personal) - # TODO: support WPA3 - return SecurityType.UNSUPPORTED - if rsn_flags: # RSN indicates WPA2 or higher - return SecurityType.WPA2 - if wpa_flags: # WPA flags indicate WPA - return SecurityType.WPA - return SecurityType.UNSUPPORTED - - -class WifiManagerWrapper: - def __init__(self): - self._manager: WifiManager | None = None - self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks() + aps[ap.ssid].append(ap) + except Exception: + # catch all for parsing errors + cloudlog.exception(f"Failed to parse AP properties for {ap_path}") - self._thread = threading.Thread(target=self._run, daemon=True) - self._loop: asyncio.EventLoop | None = None - self._running = False + known_connections = self._get_connections() + networks = [Network.from_dbus(ssid, ap_list, self._connection_by_ssid(ssid, known_connections) is not None) + for ssid, ap_list in aps.items()] + networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) + self._networks = networks - def set_callbacks(self, callbacks: WifiManagerCallbacks): - self._callbacks = callbacks + if self._networks_updated is not None: + self._networks_updated(self._networks) - def start(self) -> None: - if not self._running: - self._thread.start() - while self._thread is not None and not self._running: - time.sleep(0.1) + def __del__(self): + self.stop() - def _run(self): - self._loop = asyncio.new_event_loop() - asyncio.set_event_loop(self._loop) - - try: - self._manager = WifiManager(self._callbacks) - self._running = True - self._loop.run_forever() - except Exception as e: - cloudlog.error(f"Error in WifiManagerWrapper thread: {e}") - finally: - if self._loop.is_running(): - self._loop.stop() - self._running = False - - def shutdown(self) -> None: - if self._running: - if self._manager is not None and self._loop: - shutdown_future = asyncio.run_coroutine_threadsafe(self._manager.shutdown(), self._loop) - shutdown_future.result(timeout=3.0) - - if self._loop and self._loop.is_running(): - self._loop.call_soon_threadsafe(self._loop.stop) - if self._thread and self._thread.is_alive(): - self._thread.join(timeout=2.0) - self._running = False - - def is_saved(self, ssid: str) -> bool: - """Check if a network is saved.""" - return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) - - def connect(self): - """Connect to DBus and start Wi-Fi scanning.""" - if not self._manager: - return - self._run_coroutine(self._manager.connect()) - - def forget_connection(self, ssid: str): - """Forget a saved Wi-Fi connection.""" - if not self._manager: - return - self._run_coroutine(self._manager.forget_connection(ssid)) + def stop(self): + if not self._exit: + self._exit = True + self._scan_thread.join() + self._state_thread.join() - def activate_connection(self, ssid: str): - """Activate an existing Wi-Fi connection.""" - if not self._manager: - return - self._run_coroutine(self._manager.activate_connection(ssid)) - - def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False): - """Connect to a Wi-Fi network.""" - if not self._manager: - return - self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden)) - - def _run_coroutine(self, coro): - """Run a coroutine in the async thread.""" - if not self._running or not self._loop: - cloudlog.error("WifiManager thread is not running") - return - asyncio.run_coroutine_threadsafe(coro, self._loop) - - def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T: - """Run a function synchronously in the async thread.""" - if not self._running or not self._loop or not self._manager: - return default - future = concurrent.futures.Future[T]() - - def wrapper(manager: WifiManager) -> None: - try: - future.set_result(func(manager)) - except Exception as e: - future.set_exception(e) - - try: - self._loop.call_soon_threadsafe(wrapper, self._manager) - return future.result(timeout=1.0) - except Exception as e: - cloudlog.error(f"WifiManagerWrapper property access failed: {e}") - return default + self._router_main.close() + self._router_main.conn.close() + self._conn_monitor.close() diff --git a/system/ui/setup.py b/system/ui/setup.py index 800ca7662c..a985e783be 100755 --- a/system/ui/setup.py +++ b/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) diff --git a/system/ui/updater.py b/system/ui/updater.py index 31799d3628..b3cdc82cf5 100755 --- a/system/ui/updater.py +++ b/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 diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 2ecfd36be7..6f5a00015b 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -6,7 +6,7 @@ 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 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog @@ -36,34 +36,35 @@ class UIState(IntEnum): class WifiManagerUI(Widget): - def __init__(self, wifi_manager: WifiManagerWrapper): + def __init__(self, wifi_manager: WifiManager): super().__init__() + self.wifi_manager = wifi_manager self.state: UIState = UIState.IDLE - self._state_network: NetworkInfo | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING + 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"]: @@ -78,7 +79,7 @@ class WifiManagerUI(Widget): 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(NetworkInfo, self._state_network), result)) + 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() @@ -86,7 +87,7 @@ class WifiManagerUI(Widget): else: self._draw_network_list(rect) - def _on_password_entered(self, network: NetworkInfo, result: int): + def _on_password_entered(self, network: Network, result: int): if result == 1: password = self.keyboard.text self.keyboard.clear() @@ -121,7 +122,7 @@ 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) @@ -174,10 +175,10 @@ class WifiManagerUI(Widget): 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" @@ -191,12 +192,12 @@ 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=''): + def connect_to_network(self, network: Network, password=''): self.state = UIState.CONNECTING self._state_network = network if network.is_saved and not password: @@ -204,13 +205,12 @@ class WifiManagerUI(Widget): else: self.wifi_manager.connect_to_network(network.ssid, password) - def forget_network(self, network: NetworkInfo): + def forget_network(self, network: Network): self.state = UIState.FORGETTING self._state_network = network - network.is_saved = False self.wifi_manager.forget_connection(network.ssid) - def _on_network_updated(self, networks: list[NetworkInfo]): + def _on_network_updated(self, networks: list[Network]): with self._lock: self._networks = networks for n in self._networks: @@ -237,7 +237,7 @@ class WifiManagerUI(Widget): if self.state == UIState.FORGETTING: self.state = UIState.IDLE - def _on_connection_failed(self, ssid: str, error: str): + def _on_disconnected(self): with self._lock: if self.state == UIState.CONNECTING: self.state = UIState.IDLE @@ -245,13 +245,11 @@ class WifiManagerUI(Widget): 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() diff --git a/uv.lock b/uv.lock index 7010cdfb83..72c3d2f8e2 100644 --- a/uv.lock +++ b/uv.lock @@ -442,15 +442,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/56/c8/46ac27096684f33e27dab749ef43c6b0119c6a0d852971eaefb73256dc4c/cython-3.1.3-py3-none-any.whl", hash = "sha256:d13025b34f72f77bf7f65c1cd628914763e6c285f4deb934314c922b91e6be5a", size = 1225725, upload-time = "2025-08-13T06:19:09.593Z" }, ] -[[package]] -name = "dbus-next" -version = "0.2.3" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/ce/45/6a40fbe886d60a8c26f480e7d12535502b5ba123814b3b9a0b002ebca198/dbus_next-0.2.3.tar.gz", hash = "sha256:f4eae26909332ada528c0a3549dda8d4f088f9b365153952a408e28023a626a5", size = 71112, upload-time = "2021-07-25T22:11:28.398Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, -] - [[package]] name = "dictdiffer" version = "0.9.0" @@ -690,6 +681,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/15/aa/0aca39a37d3c7eb941ba736ede56d689e7be91cab5d9ca846bde3999eba6/isodate-0.7.2-py3-none-any.whl", hash = "sha256:28009937d8031054830160fce6d409ed342816b543597cece116d966c6d99e15", size = 22320, upload-time = "2024-10-08T23:04:09.501Z" }, ] +[[package]] +name = "jeepney" +version = "0.9.0" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/7b/6f/357efd7602486741aa73ffc0617fb310a29b588ed0fd69c2399acbb85b0c/jeepney-0.9.0.tar.gz", hash = "sha256:cf0e9e845622b81e4a28df94c40345400256ec608d0e55bb8a3feaa9163f5732", size = 106758, upload-time = "2025-02-27T18:51:01.684Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/b2/a3/e137168c9c44d18eff0376253da9f1e9234d0239e0ee230d2fee6cea8e55/jeepney-0.9.0-py3-none-any.whl", hash = "sha256:97e5714520c16fc0a45695e5365a2e11b81ea79bba796e26f9f1d178cb182683", size = 49010, upload-time = "2025-02-27T18:51:00.104Z" }, +] + [[package]] name = "jinja2" version = "3.1.6" @@ -1241,8 +1241,8 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, - { name = "dbus-next" }, { name = "dictdiffer" }, + { name = "jeepney" }, { name = "matplotlib" }, { name = "opencv-python-headless" }, { name = "parameterized" }, @@ -1294,11 +1294,11 @@ requires-dist = [ { name = "codespell", marker = "extra == 'testing'" }, { name = "crcmod" }, { name = "cython" }, - { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" }, { name = "inputs" }, + { name = "jeepney", marker = "extra == 'dev'" }, { name = "jinja2", marker = "extra == 'docs'" }, { name = "json-rpc" }, { name = "libusb1" }, From 23b4aaf2a5e3008bf230cfaa86027b1ccbaedbb7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:25:01 -0700 Subject: [PATCH 42/51] raylib networking: remove locking on UI thread (#36063) * use callback queue to make this thread safe and remove locks (which lag ui thread?) * woah this works * no more lock! * always run signal handler and store callbacks, like qt * debug * more * okay not for now * combine _get_connections and _connection_by_ssid, closer to qt and not an explosion of GetSettings dbus calls * debug * try this * skip * len * skip hidden networks * actually slower * stash * back to 8929f37d495a524d4a996d66b82d4a947fbf4f1c * clean up --- system/ui/lib/wifi_manager.py | 26 +++++++----- system/ui/widgets/network.py | 74 ++++++++++++++++------------------- 2 files changed, 51 insertions(+), 49 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 96940c2b3b..58181157c0 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -133,12 +133,12 @@ class WifiManager: # State self._connecting_to_ssid: str = "" self._last_network_update: float = 0.0 + self._callback_queue: list[Callable] = [] # Callbacks - # TODO: implement a callback queue to avoid blocking UI thread self._need_auth: Callable[[str], None] | None = None self._activated: Callable[[], None] | None = None - self._forgotten: Callable[[str], None] | None = None + self._forgotten: Callable[[], None] | None = None self._networks_updated: Callable[[list[Network]], None] | None = None self._disconnected: Callable[[], None] | None = None @@ -154,7 +154,7 @@ class WifiManager: def set_callbacks(self, need_auth: Callable[[str], None], activated: Callable[[], None] | None, - forgotten: Callable[[str], None], + forgotten: Callable[[], None], networks_updated: Callable[[list[Network]], None], disconnected: Callable[[], None]): self._need_auth = need_auth @@ -163,6 +163,15 @@ class WifiManager: self._networks_updated = networks_updated self._disconnected = disconnected + def _enqueue_callback(self, cb: Callable, *args): + self._callback_queue.append(lambda: cb(*args)) + + def process_callbacks(self): + # Call from UI thread to run any pending callbacks + to_run, self._callback_queue = self._callback_queue, [] + for cb in to_run: + cb() + def set_active(self, active: bool): self._active = active @@ -187,7 +196,6 @@ class WifiManager: with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q: while not self._exit: - # TODO: always run, and ensure callbacks don't block UI thread if not self._active: time.sleep(1) continue @@ -204,19 +212,19 @@ class WifiManager: if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid): self.forget_connection(self._connecting_to_ssid, block=True) if self._need_auth is not None: - self._need_auth(self._connecting_to_ssid) + self._enqueue_callback(self._need_auth, self._connecting_to_ssid) self._connecting_to_ssid = "" elif new_state == NMDeviceState.ACTIVATED: if self._activated is not None: self._update_networks() - self._activated() + self._enqueue_callback(self._activated) self._connecting_to_ssid = "" elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION: self._connecting_to_ssid = "" if self._disconnected is not None: - self._disconnected() + self._enqueue_callback(self._disconnected) def _network_scanner(self): self._wait_for_wifi_device() @@ -324,7 +332,7 @@ class WifiManager: if self._forgotten is not None: self._update_networks() - self._forgotten(ssid) + self._enqueue_callback(self._forgotten) if block: worker() @@ -400,7 +408,7 @@ class WifiManager: self._networks = networks if self._networks_updated is not None: - self._networks_updated(self._networks) + self._enqueue_callback(self._networks_updated, self._networks) def __del__(self): self.stop() diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 6f5a00015b..3e6317a49c 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,6 +1,5 @@ from enum import IntEnum from functools import partial -from threading import Lock from typing import cast import pyray as rl @@ -50,7 +49,6 @@ class WifiManagerUI(Widget): self._networks: list[Network] = [] self._networks_buttons: dict[str, Button] = {} self._forget_networks_buttons: dict[str, Button] = {} - self._lock = Lock() self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel") self.wifi_manager.set_callbacks(need_auth=self._on_need_auth, @@ -71,21 +69,22 @@ class WifiManagerUI(Widget): 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 - - 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) + 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: @@ -211,36 +210,31 @@ class WifiManagerUI(Widget): self.wifi_manager.forget_connection(network.ssid) def _on_network_updated(self, networks: list[Network]): - 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) + 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 = UIState.NEEDS_AUTH - self._state_network = network - self._password_retry = 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 self.state == UIState.CONNECTING: - self.state = UIState.IDLE + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE - def _on_forgotten(self, ssid): - with self._lock: - if self.state == UIState.FORGETTING: - self.state = UIState.IDLE + def _on_forgotten(self): + if self.state == UIState.FORGETTING: + self.state = UIState.IDLE def _on_disconnected(self): - with self._lock: - if self.state == UIState.CONNECTING: - self.state = UIState.IDLE + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE def main(): From 8059106caee2500bdc8186fd9ce3ea9d36a352f9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:33:08 -0700 Subject: [PATCH 43/51] raylib networking: reduce DBus calls (#36065) * this reduces getsettings calls from n*n to n * these are combined now * same check --- system/ui/lib/wifi_manager.py | 23 ++++++++++++----------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 58181157c0..418c418d01 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -264,12 +264,12 @@ class WifiManager: return self._wifi_device - def _get_connections(self) -> list[str]: + def _get_connections(self) -> dict[str, str]: settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) - return list(self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]) + known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0] - def _connection_by_ssid(self, ssid: str, known_connections: list[str] | None = None) -> str | None: - for conn_path in known_connections or self._get_connections(): + conns: dict[str, str] = {} + for conn_path in known_connections: conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, "GetSettings")) @@ -279,9 +279,11 @@ class WifiManager: continue settings = reply.body[0] - if "802-11-wireless" in settings and settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") == ssid: - return conn_path - return None + if "802-11-wireless" in settings: + ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") + if ssid != "": + conns[ssid] = conn_path + return conns def connect_to_network(self, ssid: str, password: str): def worker(): @@ -325,7 +327,7 @@ class WifiManager: def forget_connection(self, ssid: str, block: bool = False): def worker(): - conn_path = self._connection_by_ssid(ssid) + conn_path = self._get_connections().get(ssid, None) if conn_path is not None: conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete')) @@ -341,7 +343,7 @@ class WifiManager: def activate_connection(self, ssid: str, block: bool = False): def worker(): - conn_path = self._connection_by_ssid(ssid) + conn_path = self._get_connections().get(ssid, None) if conn_path is not None: if self._wifi_device is None: cloudlog.warning("No WiFi device found") @@ -402,8 +404,7 @@ class WifiManager: cloudlog.exception(f"Failed to parse AP properties for {ap_path}") known_connections = self._get_connections() - networks = [Network.from_dbus(ssid, ap_list, self._connection_by_ssid(ssid, known_connections) is not None) - for ssid, ap_list in aps.items()] + networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) self._networks = networks From ec254074d12b2d8c1446d82e9762b739709952aa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:51:45 -0700 Subject: [PATCH 44/51] raylib: prevent Firehose from blocking UI (#36067) * stop blocking ui thread for 1s!! * rm * whoopsiedaisy whoopsiedaisy * meh --- selfdrive/ui/layouts/settings/firehose.py | 6 +++--- selfdrive/ui/lib/api_helpers.py | 14 ++++++++++++++ selfdrive/ui/lib/prime_state.py | 15 +++------------ 3 files changed, 20 insertions(+), 15 deletions(-) create mode 100644 selfdrive/ui/lib/api_helpers.py diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py index 74a8f317d5..b3db1fa5f0 100644 --- a/selfdrive/ui/layouts/settings/firehose.py +++ b/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() diff --git a/selfdrive/ui/lib/api_helpers.py b/selfdrive/ui/lib/api_helpers.py new file mode 100644 index 0000000000..b83efedb60 --- /dev/null +++ b/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))) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index a1b2472f30..be2132c1b7 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -2,14 +2,12 @@ from enum import IntEnum import os import threading import time -from functools import lru_cache -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 - -TOKEN_EXPIRY_HOURS = 2 +from openpilot.selfdrive.ui.lib.api_helpers import get_token class PrimeType(IntEnum): @@ -23,11 +21,6 @@ class PrimeType(IntEnum): PURPLE = 5, -@lru_cache(maxsize=1) -def get_token(dongle_id: str, t: int): - return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) - - class PrimeState: FETCH_INTERVAL = 5.0 # seconds between API calls API_TIMEOUT = 10.0 # seconds for API requests @@ -57,15 +50,13 @@ class PrimeState: return try: - identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) + 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() is_paired = data.get("is_paired", False) prime_type = data.get("prime_type", 0) self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED) - elif response.status_code == 401: - get_token.cache_clear() except Exception as e: cloudlog.error(f"Failed to fetch prime status: {e}") From 4cd76f4966c091a0fdb9df7dce9cfb966ed132d7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:55:05 -0700 Subject: [PATCH 45/51] raylib networking: prevent concurrently updating networks (#36066) * dont run by multiple threads at the same time! * this doesn't work since we rely on is_connected * Revert "this doesn't work since we rely on is_connected" This reverts commit 7455b2fe831bf5c9524e8ee71a9966de32a9755a. --- system/ui/lib/wifi_manager.py | 63 ++++++++++++++++++----------------- 1 file changed, 32 insertions(+), 31 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 418c418d01..af9ae943ea 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -370,46 +370,47 @@ class WifiManager: cloudlog.warning(f"Failed to request scan: {reply}") def _update_networks(self): - if self._wifi_device is None: - cloudlog.warning("No WiFi device found") - return - - # returns '/' if no active AP - wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) - active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] - ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] + with self._lock: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - aps: dict[str, list[AccessPoint]] = {} + # returns '/' if no active AP + wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) + active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] + ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] - for ap_path in ap_paths: - ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) - ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) + aps: dict[str, list[AccessPoint]] = {} - # some APs have been seen dropping off during iteration - if ap_props.header.message_type == MessageType.error: - cloudlog.warning(f"Failed to get AP properties for {ap_path}") - continue + for ap_path in ap_paths: + ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) + ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) - try: - ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) - if ap.ssid == "": + # some APs have been seen dropping off during iteration + if ap_props.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get AP properties for {ap_path}") continue - if ap.ssid not in aps: - aps[ap.ssid] = [] + try: + ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) + if ap.ssid == "": + continue + + if ap.ssid not in aps: + aps[ap.ssid] = [] - aps[ap.ssid].append(ap) - except Exception: - # catch all for parsing errors - cloudlog.exception(f"Failed to parse AP properties for {ap_path}") + aps[ap.ssid].append(ap) + except Exception: + # catch all for parsing errors + cloudlog.exception(f"Failed to parse AP properties for {ap_path}") - known_connections = self._get_connections() - networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] - networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) - self._networks = networks + known_connections = self._get_connections() + networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] + networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) + self._networks = networks - if self._networks_updated is not None: - self._enqueue_callback(self._networks_updated, self._networks) + if self._networks_updated is not None: + self._enqueue_callback(self._networks_updated, self._networks) def __del__(self): self.stop() From 8450f9f3330221caa89f38807c916f35fcbae615 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 26 Aug 2025 09:57:08 -0700 Subject: [PATCH 46/51] update: more migration --- system/updated/updated.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/system/updated/updated.py b/system/updated/updated.py index 11928bc24c..d1e745ec1a 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -243,7 +243,13 @@ class Updater: if b is None: b = self.get_branch(BASEDIR) b = { - ("tici", "release3"): "release-tici" + ("tici", "release3"): "release-tici", + ("tici", "release3-staging"): "release-tici", + ("tici", "master"): "master-tici", + ("tici", "nightly"): "release-tici", + ("tici", "nightly-dev"): "release-tici", + + ("tizi", "release3"): "release-tizi", }.get((HARDWARE.get_device_type(), b), b) return b From 8ee3c7b485a07250ae6caf341cb9daa02a31e26d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 11:52:58 -0700 Subject: [PATCH 47/51] add back dbus-next --- pyproject.toml | 1 + uv.lock | 23 +++++++++++++++++------ 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 556b78009d..7d6516c0fb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -101,6 +101,7 @@ dev = [ "av", "azure-identity", "azure-storage-blob", + "dbus-next", # TODO: remove once we moved everything to jeepney "dictdiffer", "jeepney", "matplotlib", diff --git a/uv.lock b/uv.lock index 72c3d2f8e2..95a60715b5 100644 --- a/uv.lock +++ b/uv.lock @@ -442,6 +442,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/56/c8/46ac27096684f33e27dab749ef43c6b0119c6a0d852971eaefb73256dc4c/cython-3.1.3-py3-none-any.whl", hash = "sha256:d13025b34f72f77bf7f65c1cd628914763e6c285f4deb934314c922b91e6be5a", size = 1225725, upload-time = "2025-08-13T06:19:09.593Z" }, ] +[[package]] +name = "dbus-next" +version = "0.2.3" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/ce/45/6a40fbe886d60a8c26f480e7d12535502b5ba123814b3b9a0b002ebca198/dbus_next-0.2.3.tar.gz", hash = "sha256:f4eae26909332ada528c0a3549dda8d4f088f9b365153952a408e28023a626a5", size = 71112, upload-time = "2021-07-25T22:11:28.398Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, +] + [[package]] name = "dictdiffer" version = "0.9.0" @@ -1241,6 +1250,7 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, + { name = "dbus-next" }, { name = "dictdiffer" }, { name = "jeepney" }, { name = "matplotlib" }, @@ -1294,6 +1304,7 @@ requires-dist = [ { name = "codespell", marker = "extra == 'testing'" }, { name = "crcmod" }, { name = "cython" }, + { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" }, @@ -1467,11 +1478,11 @@ wheels = [ [[package]] name = "platformdirs" -version = "4.3.8" +version = "4.4.0" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/fe/8b/3c73abc9c759ecd3f1f7ceff6685840859e8070c4d947c93fae71f6a0bf2/platformdirs-4.3.8.tar.gz", hash = "sha256:3d512d96e16bcb959a814c9f348431070822a6496326a4be0911c40b5a74c2bc", size = 21362, upload-time = "2025-05-07T22:47:42.121Z" } +sdist = { url = "https://files.pythonhosted.org/packages/23/e8/21db9c9987b0e728855bd57bff6984f67952bea55d6f75e055c46b5383e8/platformdirs-4.4.0.tar.gz", hash = "sha256:ca753cf4d81dc309bc67b0ea38fd15dc97bc30ce419a7f58d13eb3bf14c4febf", size = 21634, upload-time = "2025-08-26T14:32:04.268Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/fe/39/979e8e21520d4e47a0bbe349e2713c0aac6f3d853d0e5b34d76206c439aa/platformdirs-4.3.8-py3-none-any.whl", hash = "sha256:ff7059bb7eb1179e2685604f4aaf157cfd9535242bd23742eadc3c13542139b4", size = 18567, upload-time = "2025-05-07T22:47:40.376Z" }, + { url = "https://files.pythonhosted.org/packages/40/4b/2028861e724d3bd36227adfa20d3fd24c3fc6d52032f4a93c133be5d17ce/platformdirs-4.4.0-py3-none-any.whl", hash = "sha256:abd01743f24e5287cd7a5db3752faf1a2d65353f38ec26d98e25a6db65958c85", size = 18654, upload-time = "2025-08-26T14:32:02.735Z" }, ] [[package]] @@ -4629,15 +4640,15 @@ wheels = [ [[package]] name = "sentry-sdk" -version = "2.35.0" +version = "2.35.1" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "certifi" }, { name = "urllib3" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/31/83/055dc157b719651ef13db569bb8cf2103df11174478649735c1b2bf3f6bc/sentry_sdk-2.35.0.tar.gz", hash = "sha256:5ea58d352779ce45d17bc2fa71ec7185205295b83a9dbb5707273deb64720092", size = 343014, upload-time = "2025-08-14T17:11:20.223Z" } +sdist = { url = "https://files.pythonhosted.org/packages/72/75/6223b9ffa0bf5a79ece08055469be73c18034e46ed082742a0899cc58351/sentry_sdk-2.35.1.tar.gz", hash = "sha256:241b41e059632fe1f7c54ae6e1b93af9456aebdfc297be9cf7ecfd6da5167e8e", size = 343145, upload-time = "2025-08-26T08:23:32.429Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/36/3d/742617a7c644deb0c1628dcf6bb2d2165ab7c6aab56fe5222758994007f8/sentry_sdk-2.35.0-py2.py3-none-any.whl", hash = "sha256:6e0c29b9a5d34de8575ffb04d289a987ff3053cf2c98ede445bea995e3830263", size = 363806, upload-time = "2025-08-14T17:11:18.29Z" }, + { url = "https://files.pythonhosted.org/packages/62/1f/5feb6c42cc30126e9574eabc28139f8c626b483a47c537f648d133628df0/sentry_sdk-2.35.1-py2.py3-none-any.whl", hash = "sha256:13b6d6cfdae65d61fe1396a061cf9113b20f0ec1bcb257f3826b88f01bb55720", size = 363887, upload-time = "2025-08-26T08:23:30.335Z" }, ] [[package]] From f5d67b5eee14b3f7a0f31cee875338f4cc88b46a Mon Sep 17 00:00:00 2001 From: Jaume Balust Date: Tue, 26 Aug 2025 16:23:24 -0600 Subject: [PATCH 48/51] cereal: fix frequency precision by changing from int to float (#36060) --- cereal/messaging/socketmaster.cc | 2 +- cereal/services.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc index 1a7a48980e..7f7e2795c4 100644 --- a/cereal/messaging/socketmaster.cc +++ b/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; diff --git a/cereal/services.py b/cereal/services.py index a4c7463f20..edeca412ce 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -109,12 +109,12 @@ def build_header(): h += "#include \n" h += "#include \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 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" From 82582576587c9c6d89ccf85f7bd306f23be396a2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 15:34:34 -0700 Subject: [PATCH 49/51] ci: modernize test onroad (#36059) * start * fix * better * more * test * Revert "test" This reverts commit 17066ac123668cb7280cf85e3f21a3043b4785b0. * remove --- Jenkinsfile | 9 ++++----- selfdrive/test/test_onroad.py | 17 +++-------------- 2 files changed, 7 insertions(+), 19 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0905abd6da..f0c0cf1370 100644 --- a/Jenkinsfile +++ b/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"), ]) }, @@ -200,9 +200,8 @@ 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]), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0149653c84..3cb1af10df 100644 --- a/selfdrive/test/test_onroad.py +++ b/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], From ea6677c464f74b429ccb2dd4e367b1e6ef4a3cdd Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 17:16:57 -0700 Subject: [PATCH 50/51] AGNOS 13 (#36069) * staging * prod --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 28 ++++++------- system/hardware/tici/all-partitions.json | 52 ++++++++++++------------ 3 files changed, 41 insertions(+), 41 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 4c011c6ac0..7124b360f8 100755 --- a/launch_env.sh +++ b/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" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 941a4956bf..b252a8110e 100644 --- a/system/hardware/tici/agnos.json +++ b/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 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 5891e2748a..8bc6680b98 100644 --- a/system/hardware/tici/all-partitions.json +++ b/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" } ] \ No newline at end of file From f40f7f9ecee7a51dcc9f07b9337247e9bc2592c0 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 21:45:49 -0700 Subject: [PATCH 51/51] Revert "torqued: apply offset (#36005)" This reverts commit 1d74a97ba65b9b9ea074ef870ab70907be33918c. --- selfdrive/controls/lib/latcontrol_torque.py | 6 +- .../tests/test_torqued_lat_accel_offset.py | 71 ------------------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 75 deletions(-) delete mode 100644 selfdrive/controls/tests/test_torqued_lat_accel_offset.py diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 5a2814e089..dffe85c473 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -52,8 +52,10 @@ 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 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 @@ -65,8 +67,6 @@ 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 diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py deleted file mode 100644 index 5ba9980020..0000000000 --- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py +++ /dev/null @@ -1,71 +0,0 @@ -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 = 0.1 -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 = 1.0 -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) < 0.03 - -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) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7d21526144..8e4ff1e2a8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -866f2cb1f0e49b2cb7115aa8131164b3a75fb2c5 \ No newline at end of file +209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file