Qualify upstream compatibility

opendbc_repo/opendbc/safety/modes/honda_stock_aol.h

@@ -149,9 +149,16 @@ static uint8_t honda_stock_aol_permission_mask(void) {
 
 static bool honda_stock_aol_selected(const CANPacket_t *msg, const RxCheck *check) {
   bool selected = false;
-  if ((check != NULL) && rx_status[check - honda_rx_workspace].msg_seen) {
-    const CanMsgCheck *source = &check->msg[rx_status[check - honda_rx_workspace].index];
-    selected = msg_matches(msg, source->addr, source->bus, source->len);
+  if (check != NULL) {
+    for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
+      if (check == &honda_rx_workspace[i]) {
+        if (rx_status[i].msg_seen) {
+          const CanMsgCheck *source = &check->msg[rx_status[i].index];
+          selected = msg_matches(msg, source->addr, source->bus, source->len);
+        }
+        break;
+      }
+    }
   }
   return selected;
 }

opendbc_repo/opendbc/safety/modes/tesla.h

@@ -103,7 +103,7 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
     const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
     update_sample(&angle_meas, angle_meas_new);
 
-    const int torsion_bar_torque = (((msg->data[2] & 0x0FU) << 8) | msg->data[3]) - 2050;
+    const int torsion_bar_torque = (int)(((msg->data[2] & 0x0FU) << 8) | msg->data[3]) - 2050;
     const int hands_on_level = msg->data[4] >> 6;  // EPAS3S_handsOnLevel
     const int eac_status = msg->data[6] >> 5;  // EPAS3S_eacStatus
     const int eac_error_code = msg->data[2] >> 4;  // EPAS3S_eacErrorCode

opendbc_repo/opendbc/safety/modes/tesla_screen_aol.h

@@ -126,21 +126,21 @@ static void tesla_screen_rx(const CANPacket_t *msg, bool autopark) {
 }
 
 static bool tesla_screen_param_valid(uint16_t param) {
-  param &= ~256U;
-  bool valid = (param == 512U) || (param == 1536U);
+  const uint16_t screen_param = (uint16_t)(param & ~256U);
+  bool valid = (screen_param == 512U) || (screen_param == 1536U);
 #ifdef ALLOW_DEBUG
-  valid = valid || (param == 513U) || (param == 1537U);
+  valid = valid || (screen_param == 513U) || (screen_param == 1537U);
 #endif
   return valid;
 }
 
 static void tesla_screen_configure(uint16_t param) {
-  param &= ~256U;
+  const uint16_t screen_param = (uint16_t)(param & ~256U);
   tesla_screen_reset();
-  tesla_screen_enabled = tesla_screen_param_valid(param);
+  tesla_screen_enabled = tesla_screen_param_valid(screen_param);
   tesla_screen_enabled = tesla_screen_enabled && ((unsigned int)alternative_experience == 32U);
-  tesla_screen_brake_disengage = (param == 1536U) || (param == 1537U);
-  tesla_screen_longitudinal = (param == 513U) || (param == 1537U);
+  tesla_screen_brake_disengage = (screen_param == 1536U) || (screen_param == 1537U);
+  tesla_screen_longitudinal = (screen_param == 513U) || (screen_param == 1537U);
   if (tesla_screen_enabled) {
     static const AolSafetyPolicy policy = {
       .reset = tesla_screen_reset,

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -820,8 +820,8 @@ static safety_config toyota_init(uint16_t param) {
       bool eps_required = false;
       bool main_required = false;
       for (int i = 0; i < ret.rx_checks_len; i++) {
-        eps_required |= toyota_rx_checks[i].msg[0].addr == 0x262;
-        main_required |= toyota_rx_checks[i].msg[0].addr == (toyota_alt_cruise ? 0x365 : 0x1D3);
+        eps_required |= toyota_rx_checks[i].msg[0].addr == 0x262U;
+        main_required |= toyota_rx_checks[i].msg[0].addr == (toyota_alt_cruise ? 0x365U : 0x1D3U);
       }
       if (!eps_required) {
         const bool eps5 = (toyota_dsu_bypass && toyota_bypass_eps5) || toyota_aol_rav4h_filter ||

opendbc_repo/opendbc/safety/modes/volvo_cma.h

@@ -613,7 +613,7 @@ static safety_config volvo_cma_init(uint16_t param) {
   }
   for (uint8_t i = 0U; i < VOLVO_CMA_RX_CHECK_COUNT; i++) {
     rx_workspace[i] = selected[i];
-    if (volvo_cma_lca2_mod15 && (rx_workspace[i].msg[0].addr == (int)VOLVO_CMA_PORT_LCA_2)) {
+    if (volvo_cma_lca2_mod15 && (rx_workspace[i].msg[0].addr == (unsigned int)VOLVO_CMA_PORT_LCA_2)) {
       rx_workspace[i].msg[0].max_counter = 14U;
     }
   }

opendbc_repo/opendbc/safety/tests/test_tesla_hw1.py

@@ -33,7 +33,7 @@ def reset(param=16):
 class TestModelSHW1Safety(unittest.TestCase):
   def test_all_16bit_profile_words_are_isolated(self):
     debug = lib.set_safety_hooks(CarParams.SafetyModel.allOutput, 0) == 0
-    supported = {0, 1, 16, 17, 512, 1536} | ({513, 1537} if debug else set())
+    supported = {0, 1, 16, 17, 256, 257, 512, 768, 1536, 1792} | ({513, 769, 1537, 1793} if debug else set())
     for param in range(65536):
       result = lib.set_safety_hooks(10, param)
       expected = 0 if param in supported else -1

openpilot/common/tests/test_usb_host.py

@@ -0,0 +1,59 @@
+import ast
+from pathlib import Path
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+import pytest
+
+from openpilot.common.hardware import usb
+
+
+@pytest.mark.parametrize('states,expected', (
+  ([], False), (['not attached'], False), (['configured'], True),
+  (['suspended'], True), (['not attached', 'addressed'], True),
+))
+def test_usb_host_detection_uses_actual_controller_state(tmp_path, monkeypatch, states, expected):
+  for number, state in enumerate(states):
+    controller = tmp_path / str(number)
+    controller.mkdir()
+    (controller / 'state').write_text(state + '\n')
+  monkeypatch.setattr(usb, 'UDC_PATH', tmp_path)
+  assert usb.usb_host_connected() is expected
+
+
+def test_missing_controller_state_is_not_a_host(tmp_path, monkeypatch):
+  monkeypatch.setattr(usb, 'UDC_PATH', tmp_path / 'absent')
+  assert not usb.usb_host_connected()
+
+
+@pytest.mark.parametrize('present,cable,link,host,available', (
+  (False, False, False, False, False),
+  (False, True, False, False, True),
+  (False, True, False, True, False),
+  (False, True, True, False, False),
+  (False, True, True, True, False),
+  (True, True, False, True, True),
+  (True, False, True, False, True),
+))
+def test_actual_modeld_startup_rejects_host_cable(monkeypatch, present, cable, link, host, available):
+  from openpilot.starpilot.models import manager
+
+  class SelectionReached(Exception):
+    pass
+
+  selection = Mock(side_effect=SelectionReached)
+  monkeypatch.setattr(manager, 'resolve_runtime', selection)
+  monkeypatch.delenv('STARPILOT_MODELD_RECOVERY_SMALL_ONLY', raising=False)
+  source = Path(__file__).resolve().parents[2] / 'selfdrive/modeld/modeld.py'
+  main = next(n for n in ast.parse(source.read_text()).body if isinstance(n, ast.FunctionDef) and n.name == 'main')
+  prefix = []
+  for node in main.body:
+    prefix.append(node)
+    if isinstance(node, ast.Assign) and any(isinstance(t, ast.Name) and t.id == 'selection' for t in node.targets):
+      break
+  namespace = {'cloudlog': Mock(), 'ModelReceiptOwner': Mock(), 'chestnut_present': lambda: present,
+               'cable_connected': lambda: cable, 'usb_host_connected': lambda: host,
+               'jetlink_adapter': SimpleNamespace(link_on=lambda: link), 'os': __import__('os')}
+  with pytest.raises(SelectionReached):
+    exec(compile(ast.Module(body=prefix, type_ignores=[]), str(source), 'exec'), namespace)
+  selection.assert_called_once_with(chestnut_available=available, randomize=True)

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -317,7 +317,7 @@ class AugmentedRoadView(CameraView):
     if not self._bookmark_icon.interacting():
       super()._handle_mouse_release(mouse_pos)
 
-  def _render(self, rect: rl.Rectangle, /, *, paint: bool = True, poll_camera: bool = True):
+  def _render(self, rect: rl.Rectangle, *, paint: bool = True, poll_camera: bool = True):
     if not paint:
       super()._render(rect, paint=False, poll_camera=poll_camera)
       return

openpilot/starpilot/flm/producer_clock_equivalence.py

@@ -18,7 +18,7 @@ PRODUCER_SOURCE_HASHES = (
   ('openpilot', 'system/camerad/cameras/spectra.cc', '4fa26c17f0fb792a4ab6815657beccddee1d641faa2fd02e5aa7393f717a2f3a'),
   ('openpilot', 'system/camerad/cameras/camera_qcom2.cc', 'b34c24c9984a0ac086f7b961cb7ff09d0501231da50aaad0e676bb3dc3f2edd9'),
   ('openpilot', 'system/camerad/cameras/camera_common.cc', 'bd9a416a6ee21047b4deec6df04276d8717cd92fe14de43f3e9daff86b62bb8f'),
-  ('openpilot', 'selfdrive/modeld/modeld.py', '4ffe0193c64acab99f47b594ed98164e7ab6285f04f18205525d1b9931b9a086'),
+  ('openpilot', 'selfdrive/modeld/modeld.py', '8aa09862919bd3900489b2444f03179661b62e45f683270abf8c50d1ae3173fa'),
   ('openpilot', 'selfdrive/modeld/fill_model_msg.py', 'b3916c34d1073d0c26a7a8adc51e7b148f63a1ac68b388226170fd0f8b8b56b4'),
   ('openpilot', 'system/sensord/sensord.py', '7c79ab07d775622a43001e5a9b9ccc9a7bafb065940185849b33eefc2fd26420'),
   ('openpilot', 'system/sensord/sensors/lsm6ds3_gyro.py', '3e561f3d8572e1477c9b4b810c7570837d51e81c5672fe21ec67a68cae00dd92'),

openpilot/starpilot/flm/tests/test_upstream_producer_transport.py

@@ -9,7 +9,7 @@ from openpilot.starpilot.flm import producer_clock_equivalence as clock
 
 
 APPROVED = {
-  'selfdrive/modeld/modeld.py': '4ffe0193c64acab99f47b594ed98164e7ab6285f04f18205525d1b9931b9a086',
+  'selfdrive/modeld/modeld.py': '8aa09862919bd3900489b2444f03179661b62e45f683270abf8c50d1ae3173fa',
   'visionipc/visionipc_py.cc': '6c131c4f5eccb9f822f1aaae63733f26b1427c52340b61c9cdaf6cd4aee2f89d',
   'visionipc/visionipc_server.cc': 'a4325a5171eacb931eb271d06a992d2f27216040df113d92099f62cdfa67d81a',
   'visionipc/visionipc_client.cc': 'd142cd60eedabfc581e9770fcd6f0ca81b762ba9dbc608b54dd20a27a317a52d',

openpilot/starpilot/replay/render.py

@@ -509,7 +509,7 @@ class Compositor:
     # Preserve the subscriber to avoid repeated seeks while paused.
     self.camera.client = client
     self.camera.frame = frame
-    self.camera.available_streams = available
+    self.camera.available_streams = list(available)
     if client is not None and client.is_connected():
       self.camera._initialize_textures()
     pip_client = self.pip_stream._client

openpilot/starpilot/ui/native/raylib_extra.cc

@@ -48,8 +48,8 @@ NB_MODULE(_raylib_extra, module) {
     }, nb::is_implicit());
     nb::implicitly_convertible<nb::tuple, Vector2>();
     nb::implicitly_convertible<nb::list, Vector2>();
-    auto color = nb::borrow<nb::class_<Color>>(nb::type<Color>());
-    color.def("__init__", [](Color *self, nb::sequence values) {
+    auto color_type = nb::borrow<nb::class_<Color>>(nb::type<Color>());
+    color_type.def("__init__", [](Color *self, nb::sequence values) {
       if (nb::len(values) != 4) throw nb::value_error("Color requires four channels");
       new (self) Color{nb::cast<unsigned char>(values[0]), nb::cast<unsigned char>(values[1]), nb::cast<unsigned char>(values[2]), nb::cast<unsigned char>(values[3])};
     }, nb::is_implicit());
@@ -104,7 +104,7 @@ NB_MODULE(_raylib_extra, module) {
     if (!nb::hasattr(target, "init_audio_device")) target.def("init_audio_device", []() { symbol<decltype(&InitAudioDevice)>("InitAudioDevice")(); });
     if (!nb::hasattr(target, "close_audio_device")) target.def("close_audio_device", []() { symbol<decltype(&CloseAudioDevice)>("CloseAudioDevice")(); });
     if (!nb::hasattr(target, "is_audio_device_ready")) target.def("is_audio_device_ready", []() { return symbol<decltype(&IsAudioDeviceReady)>("IsAudioDeviceReady")(); });
-    if (!nb::hasattr(target, "load_sound")) target.def("load_sound", [](const char *path) { return symbol<decltype(&LoadSound)>("LoadSound")(path); });
+    if (!nb::hasattr(target, "load_sound")) target.def("load_sound", [](const char *sound_path) { return symbol<decltype(&LoadSound)>("LoadSound")(sound_path); });
     if (!nb::hasattr(target, "unload_sound")) target.def("unload_sound", [](Sound sound) { symbol<decltype(&UnloadSound)>("UnloadSound")(sound); });
     if (!nb::hasattr(target, "play_sound")) target.def("play_sound", [](Sound sound) { symbol<decltype(&PlaySound)>("PlaySound")(sound); });
     if (!nb::hasattr(target, "stop_sound")) target.def("stop_sound", [](Sound sound) { symbol<decltype(&StopSound)>("StopSound")(sound); });

openpilot/starpilot/ui/tests/test_camera_display.py

@@ -4,6 +4,7 @@ from pathlib import Path
 from types import SimpleNamespace as NS
 import tempfile
 import unittest
+import numpy as np
 from unittest.mock import Mock, patch
 
 from openpilot.starpilot.ui.raylib import rl
@@ -250,10 +251,10 @@ class CameraDisplayTests(unittest.TestCase):
     camera = CameraViewWithoutResources.__new__(CameraViewWithoutResources)
     camera._stream_type = native_camera.NARROW_ROAD_CAM
     camera.client = object()
-    camera._engaged_val = [0]
-    camera._color_strength_val = [0.0]
+    camera._engaged_val = np.array([0], dtype=np.int32)
+    camera._color_strength_val = np.array([0.0], dtype=np.float32)
     camera._color_strength_loc = 3
-    camera._enhance_driver_val = [0]
+    camera._enhance_driver_val = np.array([0], dtype=np.int32)
     camera._engaged_loc = 1
     camera._enhance_driver_loc = 2
     camera.shader = object()

openpilot/tools/lib/tests/test_log_time_series.py

@@ -0,0 +1,31 @@
+import numpy as np
+
+from openpilot.cereal import messaging
+from openpilot.tools.lib.log_time_series import msgs_to_time_series
+
+
+def test_union_columns_keep_rows_aligned_when_controller_changes():
+  messages = []
+  for stamp, branch, output in [(3, 'pidState', 0.25), (1, 'torqueState', 0.5), (2, 'pidState', 0.75)]:
+    message = messaging.new_message('controlsState')
+    message.logMonoTime = stamp * 10**9
+    getattr(message.controlsState.lateralControlState, 'init')(branch).output = output
+    messages.append(message)
+  group = msgs_to_time_series(messages)['controlsState']
+  assert group['t'].tolist() == [1., 2., 3.]
+  assert group['lateralControlState/pidState/output'].tolist() == [None, 0.75, 0.25]
+  assert group['lateralControlState/torqueState/output'].tolist() == [0.5, None, None]
+  assert all(len(column) == 3 for column in group.values())
+
+
+def test_nested_values_and_ragged_lists_preserve_sort_order():
+  messages = []
+  for stamp, points in [(2, [1., 2.]), (1, [3.])]:
+    message = messaging.new_message('modelV2')
+    message.logMonoTime = stamp * 10**9
+    message.modelV2.position.x = points
+    messages.append(message)
+  group = msgs_to_time_series(messages)['modelV2']
+  assert group['t'].tolist() == [1., 2.]
+  np.testing.assert_array_equal(group['position/x'][0], [3.])
+  np.testing.assert_array_equal(group['position/x'][1], [1., 2.])

panda/board/crc.h

@@ -13,7 +13,7 @@ void crc32_init(void) {
   }
 }
 
-uint32_t crc32_update(uint32_t crc, const uint8_t *dat, uint32_t len) {
+static uint32_t crc32_update(uint32_t crc, const uint8_t *dat, uint32_t len) {
   uint32_t ret = crc;
   for (uint32_t i = 0U; i < len; i++) {
     ret = crc32_table[(ret ^ dat[i]) & 0xFFU] ^ (ret >> 8U);

tools/ci/schema-policy.json

@@ -1,6 +1,6 @@
 {
   "schema_version": 2,
-  "upstream_commit": "2ab952d5eb16020116d3354b83f30303db5a99b4",
+  "upstream_commit": "ad4c9cdf1857034bb06c12e4b0cfba093e6ae3d6",
   "opendbc_commit": "35f7e0813462607ef1d703e52313e7571e31405d",
   "unchanged_schemas": {
     "openpilot/cereal/deprecated.capnp": "b3aa5c13de40001ed7376cef858500fb003f7698f96131cd0db18d878fa1af0d",
@@ -9,7 +9,7 @@
     "opendbc_repo/opendbc/car/include/c++.capnp": "fb306076cd38c27af1aed20fac6395e9a46fbe5b5df6a248b5f1b6845a079c44",
     "opendbc_repo/opendbc/car/rlog.capnp": "76331a09f36764d08228ba1ed6c03419cc8cdfcc797db98c4d56fab52a6ac050"
   },
-  "log_sha256": "4036fc4a3e653d877eee57a902fe59776dca607d95c17d29ca46b0db4c9313d9",
+  "log_sha256": "8a2891925ca8a2d0a59d98fd4dbe3585c77e16a2e02db6c8029cb0964b2dce84",
   "custom_header": "using Cxx = import \"/include/c++.capnp\";\n$Cxx.namespace(\"cereal\");\nusing Car = import \"/car.capnp\";\n\n@0xb526ba661d550a59;\n\n# custom.capnp: a home for empty structs reserved for custom forks\n# These structs are guaranteed to remain reserved and empty in mainline\n# cereal, so use these if you want custom events in your fork.\n\n# DO rename the structs\n# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n# Automatic FLM adds children only to existing reserved fork carriers.\n# All evidence clocks are explicitly MONOTONIC; default/version0 is invalid.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n# Live tracking trials are a separate protocol, never ReplayValidation.\n\n\n\n\n\n\n\n\n",
   "historical_empty_slots": [],
   "historical_restored": {

upstream-sync.json

@@ -2,7 +2,7 @@
   "schema_version": 1,
   "upstream": {
     "url": "https://github.com/commaai/openpilot.git",
-    "commit": "2ab952d5eb16020116d3354b83f30303db5a99b4"
+    "commit": "ad4c9cdf1857034bb06c12e4b0cfba093e6ae3d6"
   },
   "dependencies": [
     {