fix

opendbc_repo/opendbc/safety/modes/gm.h

@@ -689,7 +689,7 @@ static safety_config gm_init(uint16_t param) {
   const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
   gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
 
-  if (gm_hw == GM_ASCM || gm_ascm_int || gm_force_ascm) {
+  if ((gm_hw == GM_ASCM && !gm_sdgm) || gm_ascm_int || gm_force_ascm) {
     gm_long_limits = &GM_ASCM_LONG_LIMITS;
   } else {
     gm_long_limits = &GM_CAM_LONG_LIMITS;

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-ec152f73-DEBUG";
+const uint8_t gitversion[19] = "DEV-3bedeb4e-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-ec152f73-DEBUG
+DEV-3bedeb4e-DEBUG

scripts/laptop_device_build.sh

@@ -105,6 +105,7 @@ ensure_image_exists() {
     "${engine}" build --pull --platform linux/arm64 -f tools/laptop_device_build/Dockerfile -t "${IMAGE_NAME}" .
   fi
   assert_image_arch "${engine}"
+  ensure_image_capnp_version "${engine}"
 }
 
 assert_image_arch() {
@@ -116,6 +117,41 @@ assert_image_arch() {
   fi
 }
 
+expected_capnp_version() {
+  local raw_version=""
+  raw_version="$(sed -n 's/^#elif CAPNP_VERSION != \([0-9][0-9]*\)$/\1/p' "${ROOT_DIR}/cereal/gen/cpp/custom.capnp.h" | head -n 1)"
+  [[ -n "${raw_version}" ]] || err "Unable to determine expected Cap'n Proto version from cereal/gen/cpp/custom.capnp.h."
+
+  local major=$(( raw_version / 1000000 ))
+  local minor=$(( (raw_version / 1000) % 1000 ))
+  local micro=$(( raw_version % 1000 ))
+  echo "${major}.${minor}.${micro}"
+}
+
+image_capnp_version() {
+  local engine="$1"
+  "${engine}" run --rm --platform linux/arm64 "${IMAGE_NAME}" bash -lc "capnp --version | awk '{print \$4}'" 2>/dev/null || true
+}
+
+ensure_image_capnp_version() {
+  local engine="$1"
+  local expected actual
+  expected="$(expected_capnp_version)"
+  actual="$(image_capnp_version "${engine}")"
+
+  if [[ "${actual}" == "${expected}" ]]; then
+    return
+  fi
+
+  echo "Container image ${IMAGE_NAME} has Cap'n Proto ${actual:-unknown}, expected ${expected}. Rebuilding it now..."
+  "${engine}" build --pull --platform linux/arm64 -f tools/laptop_device_build/Dockerfile -t "${IMAGE_NAME}" .
+
+  actual="$(image_capnp_version "${engine}")"
+  if [[ "${actual}" != "${expected}" ]]; then
+    err "Container image ${IMAGE_NAME} still has Cap'n Proto ${actual:-unknown} after rebuild; expected ${expected}."
+  fi
+}
+
 assert_runtime_machine() {
   local engine="$1"
   local machine

tools/laptop_device_build/Dockerfile

@@ -1,5 +1,7 @@
 FROM ghcr.io/commaai/openpilot-base-aarch64:latest
 
+ARG CAPNP_VERSION=1.3.0
+
 ENV PYTHONUNBUFFERED=1
 ENV UV_LINK_MODE=copy
 WORKDIR /work
@@ -7,6 +9,8 @@ WORKDIR /work
 # Keep this image minimal; dependency resolution is done by uv inside the workspace.
 # rsync/ssh-client are needed for optional sysroot sync from a comma device.
 RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
     rsync \
     openssh-client \
     e2fsprogs \
@@ -14,12 +18,26 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     qemu-user-static \
     gcc-aarch64-linux-gnu \
     g++-aarch64-linux-gnu \
+    cmake \
     qtbase5-private-dev \
     python3-pip \
     xz-utils \
     git \
   && rm -rf /var/lib/apt/lists/*
 
+RUN set -eux; \
+    tmpdir="$(mktemp -d)"; \
+    curl -fsSL "https://github.com/capnproto/capnproto/archive/refs/tags/v${CAPNP_VERSION}.tar.gz" | tar -xz -C "${tmpdir}"; \
+    cmake -S "${tmpdir}/capnproto-${CAPNP_VERSION}/c++" -B "${tmpdir}/build" \
+      -DBUILD_TESTING=OFF \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_INSTALL_PREFIX=/usr/local; \
+    cmake --build "${tmpdir}/build" -j"$(nproc)"; \
+    cmake --install "${tmpdir}/build"; \
+    ldconfig; \
+    capnp --version; \
+    rm -rf "${tmpdir}"
+
 RUN /usr/bin/python3 -m pip install --no-cache-dir --break-system-packages uv
 
 # Fix for "dubious ownership" git errors when mounting folders on Linux hosts.