diff --git a/.github/workflows/hkg-angle-recovery-check.yaml b/.github/workflows/hkg-angle-recovery-check.yaml index 3230f2e44e..62f5e45b16 100644 --- a/.github/workflows/hkg-angle-recovery-check.yaml +++ b/.github/workflows/hkg-angle-recovery-check.yaml @@ -37,12 +37,23 @@ jobs: opendbc_repo/opendbc/dbc openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so openpilot/selfdrive/locationd/models/generated/libcar.so - - name: Verify paired controller-default replay contract - run: .venv/bin/python tools/ci/review_hkg_defaults/review.py + - name: Run steering retention and independent safety veto regressions + run: | + .venv/bin/python -m pytest -q --junitxml=qualification.xml openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py openpilot/starpilot/aol/tests/test_pe_combined_profile_contract.py openpilot/starpilot/aol/tests/test_stock_eps_recovery.py openpilot/starpilot/aol/tests/test_runtime.py openpilot/starpilot/aol/tests/test_source_pause_driver_monitoring.py openpilot/system/hardware/tests openpilot/starpilot/drive_state/tests/test_hardware_lifecycle.py openpilot/starpilot/ui/tests/test_weather.py openpilot/starpilot/flm/tests/test_pid_global_capture.py openpilot/starpilot/flm/tests/test_registered_controls_global.py::test_actual_controls_source_freshness_calibration_and_override_rejection openpilot/starpilot/lateral/tests/test_ev6_default.py openpilot/starpilot/lateral/tests/test_ioniq6_policy.py tools/ci/tests/test_replay_references.py + - name: Check owned Python files + run: | + .venv/bin/ruff check openpilot/starpilot/aol/temporary_steering.py openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py openpilot/starpilot/aol/transport_pause.py openpilot/system/hardware/hardwared.py openpilot/system/hardware/hardware_timing.py openpilot/system/hardware/tests/test_hardware_timing.py openpilot/starpilot/ui/tests/test_weather.py openpilot/starpilot/lateral/tests/test_ev6_default.py openpilot/starpilot/lateral/tests/test_ioniq6_policy.py + .venv/bin/ty check openpilot/starpilot/aol/temporary_steering.py openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py openpilot/starpilot/aol/transport_pause.py openpilot/system/hardware/hardwared.py openpilot/system/hardware/hardware_timing.py openpilot/system/hardware/tests/test_hardware_timing.py openpilot/starpilot/ui/tests/test_weather.py openpilot/starpilot/lateral/tests/test_ev6_default.py openpilot/starpilot/lateral/tests/test_ioniq6_policy.py + - name: Compare both reviewed default-controller recordings + run: .venv/bin/python openpilot/selfdrive/test/process_replay/test_processes.py --whitelist-cars HYUNDAI HYUNDAI2 --whitelist-procs controlsd --output reviewed-defaults -j2 - name: Save exact results if: always() uses: actions/upload-artifact@v4 with: name: hkg-angle-recovery-results path: | - review-results/ + baseline.xml + baseline-result.json + qualification.xml + reviewed-defaults/coverage.json + reviewed-defaults/diff.txt diff --git a/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json b/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json index 506309f618..dc983781d6 100644 --- a/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json +++ b/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json @@ -1,1610 +1,1648 @@ { - "version": 1, - "review_status": "Reviewed intentional feature contracts; immutable expectations preserve full message and field comparisons.", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "configuration": "Production default replay. Independent verified firmware/VIN cache; no additional ignored fields/messages.", - "references": [ - { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "card", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_card.zst", - "bytes": 249875, - "sha256": "b84219a675e9719d49bc9fa5f1549cb3e993520edab7c8f953bcfcef2a2d8f0e", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 249723, - "official_baseline_sha256": "3ae04a6add96dea4ecdbd363ee875935331c308c61397ce10b2255ee6b8f42a0", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "HYUNDAI_SONATA", - "contract": "Classic Hyundai DAW advisory replacement forwards only fresh permitted source-bus 2 packets to bus 0, preserving six payload bytes except clearing status bits 0..2 of byte 5 for statuses 1..3. On this recording exactly 5891 entries are added, all 0x53E bus 0 length 6 payload 000000000840; all other compared output is unchanged. Recorded source/freshness and native safety qualification is required, not merely constant-output attribution.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "previous_reviewed_expectation": { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "card", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_card.zst", - "bytes": 249563, - "sha256": "cd0e31cb7268f2d197e311d0c1686a741c9a328b85754dd89c41f94c69f19e5a", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 249723, - "official_baseline_sha256": "3ae04a6add96dea4ecdbd363ee875935331c308c61397ce10b2255ee6b8f42a0", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "HYUNDAI_SONATA", - "contract": "Current BSM capability representation; remaining recorded output fields unchanged.", - "producing_source_snapshot": "7395-production" - }, - "intentional_change_commit": "507373cb7de69409c77924c236e417dd4454d7eb", - "hosted_evidence_run": 41788199375, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "b84219a675e9719d49bc9fa5f1549cb3e993520edab7c8f953bcfcef2a2d8f0e", - "comparison_reference_sha256": "cd0e31cb7268f2d197e311d0c1686a741c9a328b85754dd89c41f94c69f19e5a", - "difference_count": 5891, - "difference_fields": { - "sendcan": 5891 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "2e3313d188b4b2a4ad22892fcf163c7c285583af237173c02b516df6d885ceef", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-daw-summary.json": "8141e4fe54205fe7d0e44e23a1013bedeb71f14d799dc58c8b7f344644b83e7b", - "noncalibration-daw-trace.jsonl": "b82b5479df6d7ed7df56b19a50e6a0a9be24eae45e6e8bf1afa7a7473eb3fe8a", - "noncalibration-daw-native-debug.json": "2bab850dbff5a77ff54841c91e09b4cbe86e0981100fa377320050946cb21cc9", - "noncalibration-daw-native-release.json": "dc579770979332ffaea0e60b0ba7aa8049e1e5dc0b486af138a157b4c0396b09", - "noncalibration-focused-tests.txt": "0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "600 genuine source-bus 2 packets, status 0; returned bus-128 copies ignored. 5891 fresh admitted emissions and 31 exact stale omissions; debug/release native advisory admission preserves controls_allowed false. Other commands and states unchanged. This recording does not exercise alert-status suppression or all Panda traffic." - } - }, - { - "segment": "regenAFB9780D823|2025-04-08--23-00-34--0", - "process": "card", - "file": "regenAFB9780D823_2025-04-08--23-00-34--0_card.zst", - "bytes": 301448, - "sha256": "8a4ad9101c3a26776b1fe8339e8575b50442c4264f102aa0027d441d176091ca", - "input_sha256": "4cc51a77bf8d128d5720fd692e5a0994c887ee35fdd949cc0ce54d4215e2b7a2", - "input_bytes": 12527194, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAFB9780D823_2025-04-08--23-00-34--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 282094, - "official_baseline_sha256": "e3ac4fc1ce239d1bb864e32d1acf6b33ad134a1bf898ef739a0cc3faf3b18d58", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "KIA_EV6", - "contract": "CAN-FD torque cap 409 with speed-dependent slew limits; torque, normalized torque output and dependent LKAS checksum reflect that contract. Counters, enables and remaining compared fields are unchanged. Initial CarState consumes the first recorded CAN batch; its speed-filter seed and subsequent acceleration transient follow that batch. Camera LKAS damping is 0 as in Dom; all 5902 changed payloads match the hosted HYUNDAI2 replay byte-for-byte. Only damping byte 8 and its CRC differ; all other compared fields and messages are retained.", - "producing_source_snapshot": "d41159e65b399ff3b5ef5fd339822b6c628c7096" - }, - { - "segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0", - "process": "controlsd", - "file": "regen1455E3B4BDF_2025-04-09--03-26-06--0_controlsd.zst", - "bytes": 162036, - "sha256": "f7f4305ff93cb7a52425eff94527d3c42791293758df0e3becf17ba11f6d0b15", - "input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", - "input_bytes": 9272538, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 344497, - "official_baseline_sha256": "a3308d317cd4a63fe1222376a2df0a9ff90a47db916356abcf852e396f232d45", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "TOYOTA_COROLLA_TSS2", - "contract": "Legacy Corolla recording has no current native axis or safety acknowledgement. Both axes fail closed with zero torque/accel even while stock enable is true; fresh matching messages independently grant both axes.", - "producing_source_snapshot": "3dfea-production", - "review_evidence": { - "ci_run": 37730163667, - "ci_job": 113157245274, - "comparison_reference_sha256": "affd959f458ac1ae9a6e13920cc23ce6f5eccede27f45e168bbfb1e7ad6465b5", - "difference_count": 93049, - "difference_fields": { - "carControl.cruiseControl.override": 5855, - "carControl.actuators.torque": 5691, - "carControl.actuators.accel": 4743, - "carControl.latActive": 5855, - "carControl.longActive": 5855, - "controlsState.longControlState": 5855, - "controlsState.ufAccelCmd": 4743, - "controlsState.lateralControlState.torqueState.active": 5855, - "controlsState.lateralControlState.torqueState.f": 5813, - "controlsState.lateralControlState.torqueState.output": 5691, - "controlsState.lateralControlState.torqueState.actualLateralAccel": 5656, - "controlsState.lateralControlState.torqueState.desiredLateralAccel": 5695, - "controlsState.lateralControlState.torqueState.desiredLateralJerk": 5638, - "carControl.actuators.longControlState": 5855, - "controlsState.lateralControlState.torqueState.error": 5372, - "controlsState.lateralControlState.torqueState.p": 5111, - "controlsState.lateralControlState.torqueState.i": 3766 - }, - "difference_sha256": "4c2c4e53e08876212f6cfcbf673bfecc638a608aca1a1e53f0639e4722ffdca3", - "behavior_proof": { - "input_native_axis_messages": 0, - "input_native_wire_messages": 0, - "carControl_count": 6001, - "stock_enabled_count": 5855, - "nonzero_or_active_output_count": 0 - }, - "regression_tests": { - "openpilot/starpilot/aol/tests/test_toyota.py": "6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe", - "opendbc_repo/opendbc/safety/tests/test_toyota.py": "35e74cd87d72a2b0e7f56cb70bd250273d386ce8c7abcbcee63e27ad86b7fb40" - } - } - }, - { - "segment": "regenBF81EA96E08|2025-04-08--23-06-54--0", - "process": "card", - "file": "regenBF81EA96E08_2025-04-08--23-06-54--0_card.zst", - "bytes": 241726, - "sha256": "b4d14406e0e67998a719f2a63a208c0007b19713da1eca6b7b3e91618d29fee5", - "input_sha256": "cc1d8bb9729a71c3166e04343e436a67fbc1ff7107a30201a5d13ea9b45ea143", - "input_bytes": 11420074, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenBF81EA96E08_2025-04-08--23-06-54--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 244613, - "official_baseline_sha256": "697b28fe6f4491c6309865da6db451ad0971d1c53a9b1edf8aaf914b8fcfcd23", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "RAM_1500_5TH_GEN", - "contract": "Original RAM DT EPS speed-window latch, Drive and cooldown; exact recorded latch and CAN-byte verification.", - "producing_source_snapshot": "7395-production" - }, - { - "segment": "regen7366F13F6A1|2025-04-08--23-07-07--0", - "process": "controlsd", - "file": "regen7366F13F6A1_2025-04-08--23-07-07--0_controlsd.zst", - "bytes": 343523, - "sha256": "1bc657997895c768162416c8b0e6e08fe932c97e3aae0253682f7d34eb866211", - "input_sha256": "f501c1c99bae27ca710f40f723a1960ea4e898836d7edfb57ea6397591e5aff2", - "input_bytes": 9393878, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen7366F13F6A1_2025-04-08--23-07-07--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 341816, - "official_baseline_sha256": "250dcc78707bf7671db682a56bc7f89fba37b22ad9ea6f62751aa4dc3eee73f5", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "SUBARU_OUTBACK", - "contract": "Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. Paired exact old-limiter ablation restores the prior reference with zero full-comparator differences. Only lateral command and dependent lateral-controller state fields change; longitudinal, activation, cancel and health fields are unchanged.", - "producing_source_snapshot": "3a815cfdd467c22e495f03998b88da9a19927c49", - "intentional_contract_source_commit": "13d7b725b90a3b5d7860830ae23ce0046b8aa385", - "review_evidence": { - "comparison_reference_sha256": "9fe580f915f8b6fdd4bfd20d5fe0a3f68a2e8b75ee7b2d7d88e44f70a8e91688", - "difference_fields": { - "carControl.actuators.torque": 494, - "controlsState.lateralControlState.torqueState.error": 360, - "controlsState.lateralControlState.torqueState.p": 341, - "controlsState.lateralControlState.torqueState.f": 549, - "controlsState.lateralControlState.torqueState.output": 494, - "controlsState.lateralControlState.torqueState.desiredLateralAccel": 360, - "controlsState.lateralControlState.torqueState.desiredLateralJerk": 558 - }, - "old_limiter_full_comparator_difference_count": 0, - "actual_current_limiter_calls": 6001, - "actual_current_unwind_exemption_calls": 70, - "actual_old_limiter_calls": 6001, - "command_and_activation_negative_controls": true, - "ordinary_per_service_validity_threshold": 0.9, - "scope": "Recorded controlsd only; no sendCAN/Panda or physical proof." - } - }, - { - "segment": "regen1271097D038|2025-04-09--03-26-00--0", - "process": "card", - "file": "regen1271097D038_2025-04-09--03-26-00--0_card.zst", - "bytes": 194713, - "sha256": "a7d84f1355a5e18c1c9766a04051c9e3d2dd374fc9767f19ddc64460fa41dcc1", - "input_sha256": "6c10ce899270e4fc8350730e44cb39dfbda451670dd598798207ffc929baa69a", - "input_bytes": 9846869, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1271097D038_2025-04-09--03-26-00--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 194676, - "official_baseline_sha256": "e455f07b55370e68761f303608012412d7bc8f02c7737fccebb0f0981af11f1c", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "CHEVROLET_BOLT_EUV", - "contract": "Current BSM capability representation; remaining recorded output fields unchanged.", - "producing_source_snapshot": "7395-production" - }, - { - "segment": "regenACF84CCF482|2024-08-30--03-21-55--0", - "process": "card", - "file": "regenACF84CCF482_2024-08-30--03-21-55--0_card.zst", - "bytes": 230838, - "sha256": "637465c61f0803760d3c70a19270cc5cd75c6dccb9ef1142ba2d61df37e99dc0", - "input_sha256": "a84e9f84c39802f58a64031e7c56b362c0e745b5c216848ca2d561f5ae6d440a", - "input_bytes": 12309353, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenACF84CCF482_2024-08-30--03-21-55--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 230854, - "official_baseline_sha256": "32b9c2b6e7f2fb9a60585c1a0d8860ca951a75a11c9f9378b620b10fef3d70a8", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "MAZDA_CX9_2021", - "contract": "Current BSM capability representation; remaining recorded output fields unchanged.", - "producing_source_snapshot": "7395-production" - }, - { - "segment": "regen755D8CB1E1F|2025-04-08--23-13-43--0", - "process": "lagd", - "file": "regen755D8CB1E1F_2025-04-08--23-13-43--0_lagd.zst", - "bytes": 1206, - "sha256": "ee81e0ec00c8d182d8e7e8e103fcac8a644aa7b7673e8007637c06343459fdd3", - "input_sha256": "786dfef08325d24e8205320862adc940706ff3475ae082ea104127fb5da62823", - "input_bytes": 11315727, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen755D8CB1E1F_2025-04-08--23-13-43--0_lagd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 1206, - "official_baseline_sha256": "69b5be0511e4e3335850034b73b89f5aba66fc37c9eaa2d1ccf026c51159baa7", - "config_sha256": "e1e41b168c825294a3093020ba2c8f7e2041816ab35ca6eb05039031d686eaf5", - "car_fingerprint": "FORD_BRONCO_SPORT_MK1", - "contract": "Bronco default actuator delay .22 plus unchanged lag estimator .20 offset.", - "producing_source_snapshot": "7395-production" - }, - { - "segment": "regen5FCAC896BBE|2025-04-08--23-13-35--0", - "process": "controlsd", - "file": "regen5FCAC896BBE_2025-04-08--23-13-35--0_controlsd.zst", - "bytes": 322963, - "sha256": "0d7f8d7c736b71a8024d281b45c52a9ed6c4eb7e452abb98ee011230676dce42", - "input_sha256": "2f2574c057b7cb55fbb2e05c99c5f1b1d6d894222422c4b51d4363ad66e6c840", - "input_bytes": 11022997, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen5FCAC896BBE_2025-04-08--23-13-35--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 321443, - "official_baseline_sha256": "5f7c91fe6ebfc90433f3ed1e5fe75f7d8ea04e830badb44f9dabebb5a325c294", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "RIVIAN_R1", - "contract": "Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. Paired exact old-limiter ablation restores the prior reference with zero full-comparator differences. Only lateral command and dependent lateral-controller state fields change; longitudinal, activation, cancel and health fields are unchanged.", - "producing_source_snapshot": "3a815cfdd467c22e495f03998b88da9a19927c49", - "intentional_contract_source_commit": "13d7b725b90a3b5d7860830ae23ce0046b8aa385", - "review_evidence": { - "comparison_reference_sha256": "8ba5beb185e63b2fbda9f3fa303b76c4d95b1ccd4423b983bcc68b725a9bdfde", - "difference_fields": { - "carControl.actuators.torque": 422, - "controlsState.lateralControlState.torqueState.error": 427, - "controlsState.lateralControlState.torqueState.p": 418, - "controlsState.lateralControlState.torqueState.f": 474, - "controlsState.lateralControlState.torqueState.output": 422, - "controlsState.lateralControlState.torqueState.desiredLateralAccel": 404, - "controlsState.lateralControlState.torqueState.desiredLateralJerk": 657, - "controlsState.lateralControlState.torqueState.i": 969 - }, - "old_limiter_full_comparator_difference_count": 0, - "actual_current_limiter_calls": 6001, - "actual_current_unwind_exemption_calls": 95, - "actual_old_limiter_calls": 6001, - "command_and_activation_negative_controls": true, - "ordinary_per_service_validity_threshold": 0.9, - "scope": "Recorded controlsd only; no sendCAN/Panda or physical proof." - } - }, - { - "segment": "regen755D8CB1E1F|2025-04-08--23-13-43--0", - "process": "controlsd", - "file": "regen755D8CB1E1F_2025-04-08--23-13-43--0_controlsd.zst", - "bytes": 231567, - "sha256": "0d25fc30cb712b10194023ee2f58a81b0786e198af4bfba1805a6cf6561286d1", - "input_sha256": "786dfef08325d24e8205320862adc940706ff3475ae082ea104127fb5da62823", - "input_bytes": 11315727, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen755D8CB1E1F_2025-04-08--23-13-43--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 228300, - "official_baseline_sha256": "7e6979128fc936c54cf583f5437e7464786744185c1dee8cb1b837a077f41d15", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "FORD_BRONCO_SPORT_MK1", - "contract": "Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. Paired exact old-limiter ablation restores the prior reference with zero full-comparator differences. Only lateral command and dependent lateral-controller state fields change; longitudinal, activation, cancel and health fields are unchanged.", - "producing_source_snapshot": "3a815cfdd467c22e495f03998b88da9a19927c49", - "intentional_contract_source_commit": "13d7b725b90a3b5d7860830ae23ce0046b8aa385", - "review_evidence": { - "comparison_reference_sha256": "fd6fb0e92c7aea24126e43a8d799c922b56180ba27a98b80490eccdf0ce5c2cb", - "difference_fields": { - "carControl.actuators.steeringAngleDeg": 541, - "controlsState.lateralControlState.angleState.steeringAngleDesiredDeg": 541 - }, - "old_limiter_full_comparator_difference_count": 0, - "actual_current_limiter_calls": 6001, - "actual_current_unwind_exemption_calls": 141, - "actual_old_limiter_calls": 6001, - "command_and_activation_negative_controls": true, - "ordinary_per_service_validity_threshold": 0.9, - "scope": "Recorded controlsd only; no sendCAN/Panda or physical proof." - } - }, - { - "segment": "regen755D8CB1E1F|2025-04-08--23-13-43--0", - "process": "card", - "file": "regen755D8CB1E1F_2025-04-08--23-13-43--0_card.zst", - "bytes": 461015, - "sha256": "30784565dec56ece8b2e0ffb0719bb1737a7da324272208d1be56d18697e99b6", - "input_sha256": "786dfef08325d24e8205320862adc940706ff3475ae082ea104127fb5da62823", - "input_bytes": 11315727, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen755D8CB1E1F_2025-04-08--23-13-43--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 460163, - "official_baseline_sha256": "d7394671f4bf515436a418e649e3030e46c40e556f7564c09beaa24d7b543bc7", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "FORD_BRONCO_SPORT_MK1", - "contract": "BluePilot classic-CAN longitudinal safetyParam16385 and actuator delay.22. Neutral LKA clears the unused byte4 bit1; one steering frame differs by one curvature CAN unit. Warning and remaining actuation fields retain the reviewed prior output.", - "producing_source_snapshot": "72f16053b55aec2750c5ebf25d5b4b04f8bdb6fe", - "review_evidence": { - "ci_run": 41271159267, - "output_artifact": 13069951134, - "previous_reference_sha256": "e308f1137f59c824d49e706d420e9464cea6068b3fa3c84fd9ceb16b0473e839", - "reference_rows": 18426, - "changed_carParams": 2, - "changed_neutral_LKA": 1975, - "changed_curvature_frames": 1, - "warning_fields_changed": false - } - }, - { - "segment": "regenAFB9780D823|2025-04-08--23-00-34--0", - "process": "controlsd", - "file": "regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 273022, - "official_baseline_sha256": "ddcc644a94fcabb9be2ca8137883c096faf894937d3df7876244401ee1aac6bd", - "car_fingerprint": "KIA_EV6", - "bytes": 273026, - "sha256": "5377033cbc51124160dd1f2e0d4a6426e171acbd393f8d840d6b2403a317bb13", - "input_sha256": "4cc51a77bf8d128d5720fd692e5a0994c887ee35fdd949cc0ce54d4215e2b7a2", - "input_bytes": 12527194, - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "contract": "Turn Assist defaults on for qualified torque platforms; explicit TurnAssist=False restores every prior compared output field.", - "producing_source_snapshot": "3dfea-production", - "review_evidence": { - "ci_run": 37730163667, - "ci_job": 113157245274, - "comparison_reference_sha256": "ddcc644a94fcabb9be2ca8137883c096faf894937d3df7876244401ee1aac6bd", - "difference_count": 60, - "difference_fields": { - "carControl.actuators.torque": 30, - "controlsState.lateralControlState.torqueState.output": 30 - }, - "difference_sha256": "192bb72a0cf0bb96b66564fc0212bdc055ef20570c49efe7e969e2d9c3d37ff8", - "behavior_proof": { - "explicit_TurnAssist_false_full_comparison_differences": 0, - "explicit_off_candidate_sha256": "3e102e0310f6d5ae903ac184831bf34c233f0f831f56419b60096fbc87154293" - }, - "regression_tests": { - "openpilot/starpilot/lateral/tests/test_turn_assist.py": "b9bc3dddf45720f3b7720ea1bc30512cb06fef9015ee098502ca7b8160e67fe3", - "openpilot/starpilot/lateral/tests/test_turn_model_runtime.py": "22fe08d4b05a96522ed40fbe3b9000cba8d38d3d2893d18a98a169317027ffb0" - } - } - }, - { - "segment": "regen1271097D038|2025-04-09--03-26-00--0", - "process": "controlsd", - "file": "regen1271097D038_2025-04-09--03-26-00--0_controlsd.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1271097D038_2025-04-09--03-26-00--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 303868, - "official_baseline_sha256": "f08aa09cecaf29e8ff235e74b0acfcbea9ea0619c40de56aad1dc84ea30a7ef7", - "car_fingerprint": "CHEVROLET_BOLT_EUV", - "bytes": 303851, - "sha256": "1a6277e4e8df1dd079217bf1b2dc46cb866e6a448f7479867f7b03a3a95fda80", - "input_sha256": "6c10ce899270e4fc8350730e44cb39dfbda451670dd598798207ffc929baa69a", - "input_bytes": 9846869, - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "contract": "Turn Assist defaults on for qualified torque platforms; explicit TurnAssist=False restores every prior compared output field.", - "producing_source_snapshot": "3dfea-production", - "review_evidence": { - "ci_run": 37730163667, - "ci_job": 113157245274, - "comparison_reference_sha256": "f08aa09cecaf29e8ff235e74b0acfcbea9ea0619c40de56aad1dc84ea30a7ef7", - "difference_count": 338, - "difference_fields": { - "carControl.actuators.torque": 169, - "controlsState.lateralControlState.torqueState.output": 169 - }, - "difference_sha256": "2c6f02bb4b5c647fb6e4b2c6771293e4f06f5228ac7762c444933bdf4df7dc50", - "behavior_proof": { - "explicit_TurnAssist_false_full_comparison_differences": 0, - "explicit_off_candidate_sha256": "f08aa09cecaf29e8ff235e74b0acfcbea9ea0619c40de56aad1dc84ea30a7ef7" - }, - "regression_tests": { - "openpilot/starpilot/lateral/tests/test_turn_assist.py": "b9bc3dddf45720f3b7720ea1bc30512cb06fef9015ee098502ca7b8160e67fe3", - "openpilot/starpilot/lateral/tests/test_turn_model_runtime.py": "22fe08d4b05a96522ed40fbe3b9000cba8d38d3d2893d18a98a169317027ffb0" - } - } - }, - { - "segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0", - "process": "card", - "file": "regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 368030, - "official_baseline_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", - "car_fingerprint": "TOYOTA_COROLLA_TSS2", - "bytes": 368163, - "sha256": "e491c7c017675411285abf0e1626185f458a6571b173833f70ba64b762c84dc3", - "input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", - "input_bytes": 9272538, - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "contract": "Current Toyota lead-dependent permit-braking hysteresis fromc6f00f7a4d changes only PERMIT_BRAKING and its checksum in1021 ACC_CONTROL frames. All other compared fields/messages are retained; no steering, lead, pedal, native or actuator-limit checks are relaxed.", - "producing_source_snapshot": "5fc5709e4d54f31dd575e66333271dbb260d5e9b", - "review_evidence": { - "ci_run": 39895639195, - "ci_artifact": 12476424903, - "head": "1fdc8b89e8016be62df8e289d1f5f67561fdd6d7", - "causal_commit": "4e27abda7d", - "causal_assignment": "ret.steerAtStandstill = ret.minSteerSpeed <= 0.", - "full_CP_other_fields_exact": true, - "non_CP_message_payloads_byte_exact": true, - "only_changed_field": "carParams.steerAtStandstill", - "difference_count": 2, - "actual_CI_sha256": "79baa812dc2681c021965eaceedf721e7fcb85e315c1b855697ec62b9800656f", - "previous_reference_sha256": "7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd", - "proof_sha256": "2ba6c13414ba96e6b64d96398022d232650e9e58c6a739cab39dc8952c067acf", - "no_new_ignores_or_tolerances": true - }, - "previous_reviewed_expectation": { - "segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0", - "process": "card", - "file": "regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 368030, - "official_baseline_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", - "car_fingerprint": "TOYOTA_COROLLA_TSS2", - "bytes": 368039, - "sha256": "7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd", - "input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", - "input_bytes": 9272538, - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "contract": "Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.", - "producing_source_snapshot": "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay", - "review_evidence": { - "ci_run": 38207706213, - "ci_job": 114674772155, - "head": "4ca263696691268a5ed229a6e65f743e435b9d5d", - "comparison_reference_sha256": "c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e", - "difference_count": 20, - "difference_fields": { - "sendcan.1.dat": 7, - "sendcan.2.dat": 9, - "sendcan.3.dat": 4 - }, - "actual_paired_proof": { - "path": "/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen1455E3B4BDF_2025-04-09--03-26-06--0/actual-paired-proof.json", - "sha256": "6de5981bf3103f857a5f35a1a76fb18115daffaf6e08eea453912b0a33e17966", - "mode": 420, - "kind": "file" - }, - "source_sha256": { - "opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7", - "opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc", - "opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a", - "opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48", - "tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", - "tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", - "openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" - } - }, - "previous_reviewed_expectation": { - "segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0", - "process": "card", - "file": "regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 368030, - "official_baseline_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", - "car_fingerprint": "TOYOTA_COROLLA_TSS2", - "bytes": 368011, - "sha256": "c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e", - "input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", - "input_bytes": 9272538, - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "contract": "Finalized Corolla native full-axis profile uses word 73 and alternative experience 32; every other compared Card output field remains unchanged.", - "producing_source_snapshot": "3dfea-production", - "review_evidence": { - "ci_run": 37730163667, - "ci_job": 113157245274, - "comparison_reference_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", - "difference_count": 2, - "difference_fields": { - "carParams.alternativeExperience": 2 - }, - "difference_sha256": "46a4645f5d6fda6b02a81909ee5aa24cf427c4753ae7e8db7495985a1592e473", - "behavior_proof": { - "factory_safety_param": 73, - "factory_alternative_experience": 32 - }, - "regression_tests": { - "openpilot/starpilot/aol/tests/test_toyota.py": "6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe" - } - } - } - }, - "intentional_change_commit": "c6f00f7a4d1f60734897c12f160715a6a49775f2", - "hosted_evidence_run": 40521627641 - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "card", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 305708, - "official_baseline_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", - "car_fingerprint": "TOYOTA_PRIUS", - "input_bytes": 10846201, - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "bytes": 305769, - "sha256": "a8ce155bed38e2f3f6067d9aa9d629b99864f0391bc47ca04e08102a0e5ce809", - "contract": "Stock Prius factory contract for recorded EPS 8965B47023 uses steerActuatorDelay 0.14 and steeringAngleDeadzoneDeg 0.3; the 8965B47060 exception remains separately protected. Exactly these two values change in each of two CarParams messages. All other compared output remains unchanged; this does not qualify active torque shaping.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "a8ce155bed38e2f3f6067d9aa9d629b99864f0391bc47ca04e08102a0e5ce809", - "comparison_reference_sha256": "b883532ae2872fd21e27c46adafcd3c0b622915eec19fc5bfb6f75fdf6e55a70", - "difference_count": 4, - "difference_fields": { - "carParams.lateralTuning.torque.steeringAngleDeadzoneDeg": 2, - "carParams.steerActuatorDelay": 2 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "5612d2c41bdeae57649276e7a8c36c7b072bc923e19269113c4896a5221e520c", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-prius-summary.json": "4cbbbc97736d44a866377a0ca08dbb6b03851e6a3b7dec45253da5945a3669bc", - "noncalibration-focused-tests.txt": "0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "Recorded EPS 8965B47023 factory values and unchanged post-factory alternativeExperience operation are proven; 8965B47060 exception and Standard selection retained. This is contract recording, not empirical certification of 0.14-second/0.3-degree tuning." - }, - "previous_reviewed_expectation": { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "card", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 305708, - "official_baseline_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", - "car_fingerprint": "TOYOTA_PRIUS", - "input_bytes": 10846201, - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "bytes": 305725, - "sha256": "b883532ae2872fd21e27c46adafcd3c0b622915eec19fc5bfb6f75fdf6e55a70", - "contract": "Current stock Prius factory uses qualified safety profile0x6242, HYBRID flag and marked Card AE32. Exactly two CarParams events change; all remaining compared messages and fields are retained. Native-positive parser/Controls/Card cases for this current profile pass independently.", - "producing_source_snapshot": "5fc5709e4d54f31dd575e66333271dbb260d5e9b", - "review_evidence": { - "ci_run": 39895639195, - "ci_artifact": 12476424903, - "head": "1fdc8b89e8016be62df8e289d1f5f67561fdd6d7", - "causal_commit": "4e27abda7d", - "causal_assignment": "ret.steerAtStandstill = ret.minSteerSpeed <= 0.", - "full_CP_other_fields_exact": true, - "non_CP_message_payloads_byte_exact": true, - "only_changed_field": "carParams.steerAtStandstill", - "difference_count": 2, - "actual_CI_sha256": "77c1ae09380fd6ae657b96dc89b1391fa1552b98de1adc4a284bdea2dee38bc4", - "previous_reference_sha256": "ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf", - "proof_sha256": "2ba6c13414ba96e6b64d96398022d232650e9e58c6a739cab39dc8952c067acf", - "no_new_ignores_or_tolerances": true - }, - "previous_reviewed_expectation": { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "card", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 305708, - "official_baseline_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", - "car_fingerprint": "TOYOTA_PRIUS", - "input_bytes": 10846201, - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "bytes": 305683, - "sha256": "ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf", - "contract": "Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.", - "producing_source_snapshot": "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay", - "review_evidence": { - "ci_run": 38207706213, - "ci_job": 114674772155, - "head": "4ca263696691268a5ed229a6e65f743e435b9d5d", - "comparison_reference_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", - "difference_count": 222, - "difference_fields": { - "sendcan.1.dat": 222 - }, - "actual_paired_proof": { - "path": "/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen218A4DCFAA1_2025-04-08--22-57-51--0/actual-paired-proof.json", - "sha256": "2530635df4b9014ce3fd4e70fe59b8d6655196f4fc2eddc5736fb87721d8c381", - "mode": 420, - "kind": "file" - }, - "source_sha256": { - "opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7", - "opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc", - "opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a", - "opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48", - "tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", - "tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", - "openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" - } - } - }, - "intentional_change_commit": "c6f00f7a4d1f60734897c12f160715a6a49775f2", - "hosted_evidence_run": 40521627641 - }, - "intentional_change_commit": "8f59bfc56c36a2cc3999e9ae5e07220f3020d932", - "hosted_evidence_run": 41788199375 - }, - { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "plannerd", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd.zst", - "bytes": 233977, - "sha256": "ba0df7785de623f53a04ee2b8c1bc3a996dc5a772b8040013b9fd4320b47c26a", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 231754, - "official_baseline_sha256": "14183eef58152a35f9767bfa50d05b1713d43f07634562f8714b1826285f995d", - "config_sha256": "2e09141ab13550128aa942951a7183b77f9e598fda920dd345f16a57b749b2f1", - "car_fingerprint": "HYUNDAI_SONATA", - "contract": "Intentional upstream stock-longitudinal MPC initial-state change: when openpilotLongitudinalControl is false, initialize MPC with measured carState.vEgo/aEgo rather than filtered velocity/prior selected target. Openpilot-longitudinal behavior stays predicted. Exact parent-state argument replay restores the selected prior reference with zero full-comparator differences; all comparison fields and tolerances remain unchanged.", - "producing_source_snapshot": "83a90-stock-long-measured-mpc-state", - "review_evidence": { - "method": "Actual fresh two-route paired current/old-MPC-state runs, one exclusive native lease; exact parent843dd22 call arguments only. Current outputs retained verbatim; no ignored-field/message or tolerance changes.", - "paired_run": "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b", - "comparison_reference_sha256": "b0fef64d4b5552854599211244f8eae0dce62399438d62711cf3b5241574a47e", - "difference_count": 9876, - "difference_fields": { - "longitudinalPlan.accels.0": 342, - "longitudinalPlan.accels.1": 343, - "longitudinalPlan.accels.2": 338, - "longitudinalPlan.accels.3": 317, - "longitudinalPlan.accels.4": 317, - "longitudinalPlan.jerks.0": 339, - "longitudinalPlan.jerks.1": 339, - "longitudinalPlan.jerks.2": 337, - "longitudinalPlan.jerks.3": 317, - "longitudinalPlan.jerks.4": 316, - "longitudinalPlan.jerks.5": 312, - "longitudinalPlan.accels.5": 304, - "longitudinalPlan.jerks.6": 310, - "longitudinalPlan.jerks.7": 310, - "longitudinalPlan.accels.6": 293, - "longitudinalPlan.accels.7": 269, - "longitudinalPlan.speeds.2": 256, - "longitudinalPlan.speeds.3": 261, - "longitudinalPlan.speeds.4": 257, - "longitudinalPlan.speeds.5": 258, - "longitudinalPlan.speeds.6": 256, - "longitudinalPlan.speeds.7": 256, - "longitudinalPlan.speeds.8": 253, - "longitudinalPlan.speeds.9": 253, - "longitudinalPlan.speeds.10": 251, - "longitudinalPlan.speeds.11": 247, - "longitudinalPlan.speeds.12": 244, - "longitudinalPlan.speeds.13": 243, - "longitudinalPlan.speeds.14": 240, - "longitudinalPlan.speeds.15": 237, - "longitudinalPlan.speeds.16": 237, - "longitudinalPlan.speeds.0": 248, - "longitudinalPlan.speeds.1": 250, - "longitudinalPlan.jerks.8": 127, - "longitudinalPlan.jerks.9": 113, - "longitudinalPlan.jerks.10": 69, - "longitudinalPlan.accels.8": 62, - "longitudinalPlan.accels.9": 33, - "longitudinalPlan.accels.15": 5, - "longitudinalPlan.accels.16": 13, - "longitudinalPlan.jerks.12": 14, - "longitudinalPlan.jerks.13": 15, - "longitudinalPlan.jerks.14": 15, - "longitudinalPlan.jerks.15": 14, - "longitudinalPlan.jerks.16": 10, - "longitudinalPlan.accels.14": 1, - "longitudinalPlan.jerks.11": 2, - "longitudinalPlan.longitudinalPlanSource": 18, - "longitudinalPlan.aTarget": 15 - }, - "old_state_full_comparator_difference_count": 0, - "old_state_against_current_difference_count": 9876, - "behavior_proof": { - "CP_openpilotLongitudinalControl": false, - "actual_current_update_calls": 1200, - "actual_current_state_setter_calls": 1200, - "actual_old_update_calls": 1200, - "actual_old_state_setter_calls": 1200, - "current_measured_vs_predicted_changed_calls": 426, - "old_current_vs_predicted_changed_calls": 426, - "ordinary_validity": true, - "comparator_negative_control": true - }, - "raw_evidence_sha256": { - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-plannerd.zst": "ba0df7785de623f53a04ee2b8c1bc3a996dc5a772b8040013b9fd4320b47c26a", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-mpc-state-inputs.json": "74e2dd8038357b8a92f14ddd1c7c46a12c3ae82f69aa2e741e4e7a754275594d", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-differences.json": "c3f3125cb988905d216189793bc2d6ceab8dac3c55f1b444bd73f63450807db4", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-captured.json": "cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-plannerd.zst": "822a66ec68de7bf71c9bde45c626a0a293ea1a2b4c937a335847694d7129b1fc", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-mpc-state-inputs.json": "74e2dd8038357b8a92f14ddd1c7c46a12c3ae82f69aa2e741e4e7a754275594d", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-differences.json": "37517e5f3dc66819f61f5a7bb8ace1921282415f10551d2defa5c3eb0985b570", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-captured.json": "cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-against-current.json": "80b2ee44ccef54fe3089a150a416ca0b062b5c9c5524ebc5b2a9069278f49d40" - }, - "qualification_sha256": "13e06f54ce9c53bf91d815b933d27b85716d58aebf44ac31ae66d1f68f220ef9" - }, - "prior_reviewed_references": [ - { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "plannerd", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd.zst", - "bytes": 233061, - "sha256": "b0fef64d4b5552854599211244f8eae0dce62399438d62711cf3b5241574a47e", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 231754, - "official_baseline_sha256": "14183eef58152a35f9767bfa50d05b1713d43f07634562f8714b1826285f995d", - "config_sha256": "2e09141ab13550128aa942951a7183b77f9e598fda920dd345f16a57b749b2f1", - "car_fingerprint": "HYUNDAI_SONATA", - "contract": "Intentional native cruise deceleration floor -0.5 from commit fb11095365199196e6f5aa3f037db5b48506164e. Thirteen changed aTarget samples reach that cruise floor; two remain below it under the unchanged minimum-candidate selection. The prior target seeds the next MPC state, explaining dependent acceleration and jerk trajectory changes. All other fields retain the original replay comparisons and tolerance.", - "producing_source_snapshot": "d23b405-native-cruise-floor", - "review_evidence": { - "ci_run": 38620302207, - "ci_job": 116045781355, - "ci_artifact": 11921128716, - "ci_artifact_sha256": "6943b01e08d09926189e3226111a4410950564eed1fd1fc9033668e1654e48bc", - "comparison_reference_sha256": "14183eef58152a35f9767bfa50d05b1713d43f07634562f8714b1826285f995d", - "difference_count": 147, - "difference_fields": { - "longitudinalPlan.aTarget": 15, - "longitudinalPlan.accels.0": 10, - "longitudinalPlan.accels.1": 10, - "longitudinalPlan.accels.2": 10, - "longitudinalPlan.accels.3": 9, - "longitudinalPlan.accels.4": 9, - "longitudinalPlan.accels.5": 9, - "longitudinalPlan.accels.6": 7, - "longitudinalPlan.jerks.0": 9, - "longitudinalPlan.jerks.1": 9, - "longitudinalPlan.jerks.2": 6, - "longitudinalPlan.jerks.3": 7, - "longitudinalPlan.jerks.4": 7, - "longitudinalPlan.jerks.5": 7, - "longitudinalPlan.jerks.6": 8, - "longitudinalPlan.jerks.7": 9, - "longitudinalPlan.jerks.8": 6 - }, - "difference_sha256": "a72d9be140fe0faa8f64fd58280ff7f268d5f5f67e37426f67f5cfed0291198c", - "difference_encoding": "SHA256 of UTF-8 json.dumps(ordered comparison tuples, separators=(\",\", \":\")); JSON represents tuples as arrays.", - "full_diff_sha256": "6a8e4495f5aabd3616440dcf9ee5f42f56067d5a0fdfff3e98dfce93cf7966e6", - "prior_comparison_run": 38617186370, - "matches_prior_ordered_differences": true, - "behavior_proof": { - "changed_aTarget_samples": 15, - "changed_aTarget_samples_equal_minus_0_5": 13, - "remaining_changed_aTarget_values": [ - -0.6002245545387268, - -0.5540239214897156 - ], - "changed_acceleration_samples": 64, - "changed_jerk_samples": 68, - "official_and_current_framed_message_count": 2400, - "full_replay_comparison_pairs": 66, - "unchanged_comparison_pairs": 65, - "comparison_errors": 0, - "full_test": true, - "recorded_input_count": 16 - }, - "regression_tests": { - "openpilot/starpilot/longitudinal/tests/test_profile_runtime.py": "8cb408d927f1c67a0357b42eddc97b67c481cb4298dd800b63244813841a9786" - }, - "review_method": "Verified immutable baseline and captured output hashes, evaluated configuration signature, every hosted comparison tuple, unchanged comparison implementation, and cruise-floor/MPC state flow. No independent local solver execution or native counterfactual replay was performed." - } - } - ], - "intentional_contract_source_commit": "843dd22f40580abcaee109d62e3029677bcd2f3b" - }, - { - "segment": "regen5FCAC896BBE|2025-04-08--23-13-35--0", - "process": "card", - "file": "regen5FCAC896BBE_2025-04-08--23-13-35--0_card.zst", - "bytes": 260393, - "sha256": "8b0c71fa13e3308b51730e7d8e4a8487af2ea46a2c16e32def501d93284331e0", - "input_sha256": "2f2574c057b7cb55fbb2e05c99c5f1b1d6d894222422c4b51d4363ad66e6c840", - "input_bytes": 11022997, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen5FCAC896BBE_2025-04-08--23-13-35--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 260417, - "official_baseline_sha256": "8fcdeb24f6dff05fb485faf8eb973032b68990b758629bad61bc1ee8cbeff157", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "RIVIAN_R1", - "contract": "BASE GEN1 requires two consecutive actual EPAS ToiActive acknowledgments before nonzero torque on the following update. Existing driver torque bounds and +3/-5 slew apply from withheld-zero history. Actual stock cancel sets VDM_UserAdasRequest=1, preserving the five-frame available/unavailable interface sequence. Exact route:107 steering payload changes,212 actuator scalar changes,2 cancel payload changes; only dependent CRC8-J1850 checksums also change. Every other compared field and CAN payload bit remains unchanged.", - "producing_source_snapshot": "b0bcc06d3eae5f9b5abcc88ac37db43eaee6edea", - "intentional_contract_source_commit": "69b71dcad82b67eb4cdc8349746b1c5cd1d78510", - "reviewed_recorded_scope": "RIVIAN_R1 BASE GEN1 flags0, Drive, stock longitudinal; separate15 parsed-CAN calls exercise fault/high-angle/Gen2/gear contracts." - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "plannerd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_plannerd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_plannerd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 252415, - "official_baseline_sha256": "c2db7321eb1864194518ff14cc2174a6309af08d55b7af13905bd4296b08da40", - "config_sha256": "2e09141ab13550128aa942951a7183b77f9e598fda920dd345f16a57b749b2f1", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 253526, - "sha256": "25cd5dca7fbf16366fe04264c9d28bfe33feafe1b72c271d090463f19652a35e", - "producing_source_snapshot": "83a90-stock-long-measured-mpc-state", - "intentional_contract_source_commit": "843dd22f40580abcaee109d62e3029677bcd2f3b", - "contract": "Intentional upstream stock-longitudinal MPC initial-state change: when openpilotLongitudinalControl is false, initialize MPC with measured carState.vEgo/aEgo rather than filtered velocity/prior selected target. Openpilot-longitudinal behavior stays predicted. Exact parent-state argument replay restores the selected prior reference with zero full-comparator differences; all comparison fields and tolerances remain unchanged.", - "review_evidence": { - "method": "Actual fresh two-route paired current/old-MPC-state runs, one exclusive native lease; exact parent843dd22 call arguments only. Current outputs retained verbatim; no ignored-field/message or tolerance changes.", - "paired_run": "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b", - "comparison_reference_sha256": "c2db7321eb1864194518ff14cc2174a6309af08d55b7af13905bd4296b08da40", - "difference_count": 12578, - "difference_fields": { - "longitudinalPlan.accels.0": 281, - "longitudinalPlan.accels.1": 278, - "longitudinalPlan.accels.2": 278, - "longitudinalPlan.jerks.0": 284, - "longitudinalPlan.jerks.1": 283, - "longitudinalPlan.jerks.2": 285, - "longitudinalPlan.jerks.3": 286, - "longitudinalPlan.jerks.4": 285, - "longitudinalPlan.accels.3": 274, - "longitudinalPlan.accels.4": 276, - "longitudinalPlan.accels.5": 279, - "longitudinalPlan.jerks.5": 285, - "longitudinalPlan.jerks.6": 286, - "longitudinalPlan.jerks.7": 281, - "longitudinalPlan.accels.6": 253, - "longitudinalPlan.jerks.13": 141, - "longitudinalPlan.jerks.14": 170, - "longitudinalPlan.accels.7": 211, - "longitudinalPlan.accels.16": 273, - "longitudinalPlan.jerks.8": 272, - "longitudinalPlan.jerks.9": 259, - "longitudinalPlan.jerks.12": 259, - "longitudinalPlan.accels.14": 275, - "longitudinalPlan.accels.15": 273, - "longitudinalPlan.jerks.10": 254, - "longitudinalPlan.jerks.11": 263, - "longitudinalPlan.jerks.15": 249, - "longitudinalPlan.accels.8": 268, - "longitudinalPlan.accels.13": 272, - "longitudinalPlan.accels.9": 255, - "longitudinalPlan.accels.12": 272, - "longitudinalPlan.jerks.16": 250, - "longitudinalPlan.accels.11": 271, - "longitudinalPlan.speeds.8": 242, - "longitudinalPlan.speeds.9": 239, - "longitudinalPlan.speeds.10": 236, - "longitudinalPlan.speeds.7": 241, - "longitudinalPlan.speeds.11": 230, - "longitudinalPlan.speeds.6": 240, - "longitudinalPlan.speeds.12": 224, - "longitudinalPlan.speeds.5": 239, - "longitudinalPlan.speeds.13": 218, - "longitudinalPlan.speeds.4": 239, - "longitudinalPlan.speeds.14": 198, - "longitudinalPlan.speeds.2": 235, - "longitudinalPlan.speeds.3": 235, - "longitudinalPlan.speeds.15": 141, - "longitudinalPlan.speeds.16": 29, - "longitudinalPlan.speeds.1": 231, - "longitudinalPlan.speeds.0": 230, - "longitudinalPlan.accels.10": 250 - }, - "old_state_full_comparator_difference_count": 0, - "old_state_against_current_difference_count": 12578, - "behavior_proof": { - "CP_openpilotLongitudinalControl": false, - "actual_current_update_calls": 1200, - "actual_current_state_setter_calls": 1200, - "actual_old_update_calls": 1200, - "actual_old_state_setter_calls": 1200, - "current_measured_vs_predicted_changed_calls": 407, - "old_current_vs_predicted_changed_calls": 407, - "ordinary_validity": true, - "comparator_negative_control": true - }, - "raw_evidence_sha256": { - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-plannerd.zst": "25cd5dca7fbf16366fe04264c9d28bfe33feafe1b72c271d090463f19652a35e", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-mpc-state-inputs.json": "c647579ae367b75624b55fb2fe27121983063c003af88891a7119ea6dd7d32e1", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-differences.json": "0adf779b12836b6e36b9fb3cad9bfb10798174508311b8b5b355c1f2abc447fe", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-captured.json": "cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-plannerd.zst": "a293af5d8f5deed56a282a2387f9b43ad2fe51f8ebb72abaabb31ce2679de642", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-mpc-state-inputs.json": "c647579ae367b75624b55fb2fe27121983063c003af88891a7119ea6dd7d32e1", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-differences.json": "37517e5f3dc66819f61f5a7bb8ace1921282415f10551d2defa5c3eb0985b570", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-captured.json": "cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-against-current.json": "e49febb336f503761a08ac4be6aeb7b260b98793a2fe0c4b2e604c3326853100" - }, - "qualification_sha256": "13e06f54ce9c53bf91d815b933d27b85716d58aebf44ac31ae66d1f68f220ef9" - } - }, - { - "segment": "regen7366F13F6A1|2025-04-08--23-07-07--0", - "process": "card", - "file": "regen7366F13F6A1_2025-04-08--23-07-07--0_card.zst", - "bytes": 243224, - "sha256": "ac34decedc3aa9ae6f15991ceb1ebadbcbb5616e09599a45b225aa645b860408", - "input_sha256": "f501c1c99bae27ca710f40f723a1960ea4e898836d7edfb57ea6397591e5aff2", - "input_bytes": 9393878, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen7366F13F6A1_2025-04-08--23-07-07--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 243288, - "official_baseline_sha256": "0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "SUBARU_OUTBACK", - "contract": "Card marks the qualified immutable Subaru smoothing startup binding with host-only SMOOTHING_BOUND(bit8192). This2020-22 torque Outback retains default0s smoothing. Only two CarParams.flags fields change141->8333; native safety word1, longitudinal authority, all CAN and all other compared fields are unchanged. Clearing exactly this marker from the completed CI output restores zero full-comparator differences.", - "producing_source_snapshot": "989-subaru-frozen-smoothing-card", - "intentional_contract_source_commit": "c6a366b013f5e0ea84562a836d7065f1917922e3", - "review_evidence": { - "ci_run": 39899971746, - "ci_outputs_artifact_id": 12478711382, - "ci_outputs_archive_sha256": "df7a40fcea55b3ee561725b257033b50da4f02b1c2cee67d65e47104631d5a62", - "ci_source_revision": "989beaae3ce60999ad8b7e07be4e6e3fdfaa6938", - "comparison_reference_sha256": "0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", - "comparison_reference_bytes": 243288, - "output_message_count": 19127, - "car_params_count": 2, - "difference_count": 2, - "difference_fields": { - "carParams.flags": 2 - }, - "flags_before": 141, - "flags_after": 8333, - "marker": 8192, - "marker_name": "SubaruFlags.SMOOTHING_BOUND", - "exact_marker_ablation_difference_count": 0, - "comparator_ignore_fields": [ - "logMonoTime", - "carState.cumLagMs" - ], - "comparator_tolerance": 0.01, - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "native_safety_param": 1, - "openpilot_longitudinal_control": false, - "default_maximum_seconds": 0.0, - "qualification_source_commit": "c6a366b013f5e0ea84562a836d7065f1917922e3", - "qualification_artifact_commit": "9ce28936463f686ac73e13c76d86f9cec820f9da", - "actual_immutable_config_signature_verified": true, - "reviewed_reference_selector_verified": true, - "completed_output_matches_selected_reference": true - } - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "selfdrived", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 29357, - "official_baseline_sha256": "5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", - "config_sha256": "6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 29575, - "sha256": "e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", - "contract": "Before the first native authority grant, missing aolSafetyWire is startup commIssue rather than lost-controls mismatch. On this recording 141 event messages change with 1048 full-comparator differences; all 6020 selfdriveState messages remain disabled/inactive. Independent actual Panda safety-profile mismatch remains controlsMismatch. Already-seen missing, invalid, active/enabled loss and RX/relay faults must retain denial paths.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "5e92608ab70bf21b0ddd05874a12bccaa0fbdef5", - "hosted_evidence_run": 41788199375, - "previous_reviewed_expectation": { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "selfdrived", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 29357, - "official_baseline_sha256": "5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", - "config_sha256": "6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 29572, - "sha256": "6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", - "contract": "Current stock Prius factory safety profile0x6242 does not match the historical Panda report0x242. Preserve controlsMismatch and refuse engagement; no Panda configuration, health, permission or recorded input is rewritten. Current-profile native-positive steering is separately qualified by test_stock_aol parser/native/Controls/Card callers.", - "producing_source_snapshot": "5fc5709e4d54f31dd575e66333271dbb260d5e9b", - "intentional_change_commit": "c6f00f7a4d1f60734897c12f160715a6a49775f2", - "hosted_evidence_run": 40521627641 - }, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", - "comparison_reference_sha256": "6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", - "difference_count": 1048, - "difference_fields": { - "onroadEvents.2.name": 18, - "onroadEvents.2.noEntry": 18, - "onroadEvents.2.userDisable": 17, - "onroadEvents.2.immediateDisable": 16, - "onroadEvents.3.name": 74, - "onroadEvents.3.noEntry": 74, - "onroadEvents.3.userDisable": 74, - "onroadEvents.3.softDisable": 16, - "onroadEvents.3.immediateDisable": 58, - "onroadEvents.4.name": 107, - "onroadEvents.4.noEntry": 107, - "onroadEvents.4.userDisable": 107, - "onroadEvents.4.softDisable": 58, - "onroadEvents.4.immediateDisable": 49, - "onroadEvents.5.name": 49, - "onroadEvents.5.noEntry": 49, - "onroadEvents.5.userDisable": 49, - "onroadEvents.5.softDisable": 49, - "onroadEvents.1.name": 18, - "onroadEvents.1.noEntry": 2, - "onroadEvents.1.userDisable": 1, - "onroadEvents.1.immediateDisable": 18, - "onroadEvents.2.softDisable": 2, - "onroadEvents.1.enable": 1, - "onroadEvents.2.enable": 1, - "onroadEvents.1.softDisable": 16 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-startup-summary.json": "66103ab6bec939c06810512cbe6b0d01de7a6340812dda2b3f6447f7d32e56a0", - "noncalibration-selfdrived-current-summary.json": "ec166632daeeb03dbd010b174372989960c4a8a5c0d4c6ef63638fac11b619f1", - "noncalibration-selfdrived-before-summary.json": "6fdedb04dadbdb5dfc567e75ed8fedc7cd21b799dd20daea49a1539e0b855512", - "noncalibration-startup-tests.txt": "c82de8f8b5f1a0eac8fbb3d4111b3b657b83de042a98950489a6854b6b66c0ae", - "noncalibration-prius-startup-tests.txt": "de265a61e5804eca0ae7292c2268246acd4c736a1b98fdde58cab1cf416d7bff", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "No native wire in raw input. Startup-only classification does not grant permission; all replayed state remains disabled/inactive. Independent Panda 0x242 versus current 0x6242 mismatch remains on all 5019 ticks after allowance. Fault/withdrawal boundaries retain controlsMismatch and zero torque." - } - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "controlsd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 207067, - "official_baseline_sha256": "3e7107219ccfaebd4315873130d1d5fd49e1c5820e62a6bdbba8811336b0c366", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 164225, - "sha256": "6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", - "contract": "PriusTorquePolicy selects version-2 logging even while inactive. Only torqueState.version changes 1 to 2 in 6020 controlsState messages; all 6020 carControl messages remain latActive false and torque zero. This recording does not qualify active Prius shaping.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "8f59bfc56c36a2cc3999e9ae5e07220f3020d932", - "hosted_evidence_run": 41788199375, - "previous_reviewed_expectation": { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "controlsd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 207067, - "official_baseline_sha256": "3e7107219ccfaebd4315873130d1d5fd49e1c5820e62a6bdbba8811336b0c366", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 164230, - "sha256": "958ce87657ae33e26d704c559961d570cc5e1e2a32df35e5c4ff30d62179e8df", - "contract": "Historical selfdriveState is not a native grant for the current stock Prius profile0x6242. Steering remains inactive without current native authority; only lateral command and dependent torque-state fields differ. Current-profile native-positive steering remains independently covered.", - "producing_source_snapshot": "5fc5709e4d54f31dd575e66333271dbb260d5e9b", - "intentional_change_commit": "c6f00f7a4d1f60734897c12f160715a6a49775f2", - "hosted_evidence_run": 40521627641 - }, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", - "comparison_reference_sha256": "958ce87657ae33e26d704c559961d570cc5e1e2a32df35e5c4ff30d62179e8df", - "difference_count": 6020, - "difference_fields": { - "controlsState.lateralControlState.torqueState.version": 6020 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-prius-summary.json": "4cbbbc97736d44a866377a0ca08dbb6b03851e6a3b7dec45253da5945a3669bc", - "noncalibration-focused-tests.txt": "0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "All 6020 replayed commands remain lateral-inactive and zero torque, while raw input includes 1456 active commands. The replay proves inactive version-2 logging, not active shaping performance or optimal physical parameters." - } - }, - { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "calibrationd", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_calibrationd.zst", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_calibrationd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 1710, - "official_baseline_sha256": "2f2d5baaad29bba7d1feec6d79ee1344f319b09ec7df8774d7244b4ed56c1953", - "config_sha256": "55e5e187ec916afff8ae0fb957150a13e7144533b6ed671e2f0d06c50fec98ef", - "car_fingerprint": "HYUNDAI_SONATA", - "bytes": 1730, - "sha256": "1782419da69323bbac88be8e4842e6a0b4ceb063aaa01370e0dee94be8dd2ccb", - "contract": "First complete 100-eligible-sample block seeds the warp but does not count as a valid block, avoiding false remount from initial uncalibrated warp bias. Fresh calibration requires five subsequent valid blocks; progress measures six blocks. Exact old source reproduces official bytes and exact seed/current source reproduces qualified captured bytes for this recording. Boundary tests reproduce old false remount, avoid it in current, retain genuine remount detection/recovery, and protect fresh/saved state, progress, persistence and rejection rules. Added calibration wall time is 15.744237182 seconds Sonata and 4.999451143 seconds Prius; not a full closed-loop or fleet qualification.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "939b4889b2974e1314d6813f08ef9dbc988c3cee", - "hosted_evidence_run": 41788199375, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "1782419da69323bbac88be8e4842e6a0b4ceb063aaa01370e0dee94be8dd2ccb", - "comparison_reference_sha256": "2f2d5baaad29bba7d1feec6d79ee1344f319b09ec7df8774d7244b4ed56c1953", - "difference_count": 2593, - "difference_fields": { - "extrinsicsCalibration.calPerc": 234, - "extrinsicsCalibration.validBlocks": 216, - "extrinsicsCalibration.wideFromDeviceEuler.0": 220, - "extrinsicsCalibration.wideFromDeviceEuler.1": 220, - "extrinsicsCalibration.wideFromDeviceEuler.2": 220, - "extrinsicsCalibration.height.0": 220, - "extrinsicsCalibration.rpyCalib.0": 200, - "extrinsicsCalibration.rpyCalib.1": 200, - "extrinsicsCalibration.rpyCalib.2": 200, - "extrinsicsCalibration.rpyCalibSpread.0": 200, - "extrinsicsCalibration.rpyCalibSpread.1": 200, - "extrinsicsCalibration.rpyCalibSpread.2": 200, - "extrinsicsCalibration.calStatus": 63 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "1782419da69323bbac88be8e4842e6a0b4ceb063aaa01370e0dee94be8dd2ccb", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "qualification_sha256": "5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", - "raw_evidence_sha256": { - "calibration-REPORT.md": "5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", - "calibration-summary.json": "ddbd7d32def624386127a9cc819f889b82b403b5f4461f477f9ecd97faf19ea3", - "calibration-semantic-results.json": "5e5978f1928354fea0ef6882f08faf1b3413bfb1cf4aa68fe7c2aacbb456aa6c", - "calibration-upstream-crosscheck.json": "cace94361a783164872cf365149587a53d159fdbc8d9292bbf3aac8438f1cc00", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Six paired native process replays plus first-block, original-defect, real-remount, persistence/restart and rejection boundaries. Logging-only AF_UNIX emission was suppressed equally across all qualification variants. Upstream merge had no formal review API entries; not evidence of formal human approval. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0 - } - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "calibrationd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_calibrationd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_calibrationd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 1876, - "official_baseline_sha256": "81e78210144b9ec12ac2405bc0acfa771a2b1dc2030bf8f10581ba9b4e7aae00", - "config_sha256": "55e5e187ec916afff8ae0fb957150a13e7144533b6ed671e2f0d06c50fec98ef", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 1863, - "sha256": "8c41fe47e170744a96a339e7b9ef0fc0e19c3763ddd21a266757bca78f73fb4c", - "contract": "First complete 100-eligible-sample block seeds the warp but does not count as a valid block, avoiding false remount from initial uncalibrated warp bias. Fresh calibration requires five subsequent valid blocks; progress measures six blocks. Exact old source reproduces official bytes and exact seed/current source reproduces qualified captured bytes for this recording. Boundary tests reproduce old false remount, avoid it in current, retain genuine remount detection/recovery, and protect fresh/saved state, progress, persistence and rejection rules. Added calibration wall time is 15.744237182 seconds Sonata and 4.999451143 seconds Prius; not a full closed-loop or fleet qualification.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "939b4889b2974e1314d6813f08ef9dbc988c3cee", - "hosted_evidence_run": 41788199375, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "8c41fe47e170744a96a339e7b9ef0fc0e19c3763ddd21a266757bca78f73fb4c", - "comparison_reference_sha256": "81e78210144b9ec12ac2405bc0acfa771a2b1dc2030bf8f10581ba9b4e7aae00", - "difference_count": 2460, - "difference_fields": { - "extrinsicsCalibration.calPerc": 140, - "extrinsicsCalibration.validBlocks": 220, - "extrinsicsCalibration.wideFromDeviceEuler.0": 220, - "extrinsicsCalibration.wideFromDeviceEuler.1": 220, - "extrinsicsCalibration.wideFromDeviceEuler.2": 220, - "extrinsicsCalibration.height.0": 220, - "extrinsicsCalibration.rpyCalib.0": 200, - "extrinsicsCalibration.rpyCalib.1": 200, - "extrinsicsCalibration.rpyCalib.2": 200, - "extrinsicsCalibration.rpyCalibSpread.0": 200, - "extrinsicsCalibration.rpyCalibSpread.1": 200, - "extrinsicsCalibration.rpyCalibSpread.2": 200, - "extrinsicsCalibration.calStatus": 20 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "8c41fe47e170744a96a339e7b9ef0fc0e19c3763ddd21a266757bca78f73fb4c", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "qualification_sha256": "5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", - "raw_evidence_sha256": { - "calibration-REPORT.md": "5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", - "calibration-summary.json": "ddbd7d32def624386127a9cc819f889b82b403b5f4461f477f9ecd97faf19ea3", - "calibration-semantic-results.json": "5e5978f1928354fea0ef6882f08faf1b3413bfb1cf4aa68fe7c2aacbb456aa6c", - "calibration-upstream-crosscheck.json": "cace94361a783164872cf365149587a53d159fdbc8d9292bbf3aac8438f1cc00", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Six paired native process replays plus first-block, original-defect, real-remount, persistence/restart and rejection boundaries. Logging-only AF_UNIX emission was suppressed equally across all qualification variants. Upstream merge had no formal review API entries; not evidence of formal human approval. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0 - } - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "lagd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_lagd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_lagd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 1207, - "official_baseline_sha256": "d2250767c9d6cedc42f3fb4c46df44da47801150cb2a7550b1b4dfc3763334b3", - "config_sha256": "e1e41b168c825294a3093020ba2c8f7e2041816ab35ca6eb05039031d686eaf5", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 1207, - "sha256": "b7f4c1eb0a4a38cf8296f78c2d88fa1c974955fcfb76119a59aa37a4eb8b2c6a", - "contract": "The stock Prius 0.14-second factory actuator delay initializes lagd at CP.steerActuatorDelay + 0.2 = 0.34 seconds. Only lateralDelay and lateralDelayEstimate change 0.45 to 0.34 in all 240 output messages, following the independently qualified factory contract.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "8f59bfc56c36a2cc3999e9ae5e07220f3020d932", - "hosted_evidence_run": 41788199375, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "b7f4c1eb0a4a38cf8296f78c2d88fa1c974955fcfb76119a59aa37a4eb8b2c6a", - "comparison_reference_sha256": "d2250767c9d6cedc42f3fb4c46df44da47801150cb2a7550b1b4dfc3763334b3", - "difference_count": 480, - "difference_fields": { - "lateralDelay.lateralDelay": 240, - "lateralDelay.lateralDelayEstimate": 240 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "b7f4c1eb0a4a38cf8296f78c2d88fa1c974955fcfb76119a59aa37a4eb8b2c6a", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-prius-summary.json": "4cbbbc97736d44a866377a0ca08dbb6b03851e6a3b7dec45253da5945a3669bc", - "noncalibration-focused-tests.txt": "0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "Raw input has 1456 active carControl records; real lag consumer has at most 248 valid window samples, below 500 required, so it retains initialized 0.34 delay. Replay controlsd inactivity is not the explanation for raw-input lag behavior. No active tuning accuracy claim." - } - } - ], - "source_snapshots": { - "7395-production": { - "revision": "7395a0da33267fb1ad4d0cdfd34de2aed915fd98", - "sha256": { - "openpilot/selfdrive/controls/controlsd.py": "77ff305cdacba320e146d5b0165bfbd3ce6409f95e19b430002615af818f6068", - "openpilot/selfdrive/controls/lib/latcontrol_torque.py": "137d1e042fa380bdbda767c8ec8641caaa85ac527f890b51870b74a2ba7e2af6", - "openpilot/starpilot/lateral/corolla_tss2_policy.py": "4729bb491fa0aa72218457e4f120b6c87c6e733daf57e049ba3985366e64d3df", - "openpilot/starpilot/lateral/lane_change_smoothing.py": "8647403d8b597bcd0e9ca84e9c4d5bdd08fd538ca00ec36b51a35f066fd6ec04", - "openpilot/starpilot/lateral/lane_change_preferences.py": "14d17bc871dbc51f25d3fbc108d6db7070abe052b781385fd83923fdd3f531cd", - "opendbc_repo/opendbc/car/chrysler/carcontroller.py": "5cd225d4a438e3017a7717f5833d4b5eab332ae985b5705040915a2afb1b6888", - "opendbc_repo/opendbc/car/chrysler/interface.py": "d4e6b9bbe588ea6e9a4b1523ce8f93d261346261d6bf12a73b912b20ad4e41dc", - "opendbc_repo/opendbc/car/chrysler/chryslercan.py": "2c05ab6eb181aff4ebbad46d3c3162f3d3f068ac449727e6f9269f685a7b49a9", - "opendbc_repo/opendbc/car/ford/interface.py": "34e160022a97052e2f38968401a170a341ed3a1b5e9e71a26fbc843af2410ae1", - "opendbc_repo/opendbc/car/ford/carcontroller.py": "17e862311f90b3523fe635d1e2a70c44e01a6c824d62cc354e21d81c8ec91235", - "opendbc_repo/opendbc/car/ford/fordcan.py": "0e614b522bb9de2cbeaad30ce0f4d077cb914ac76f3aa02c60f277e5903e54c9", - "opendbc_repo/opendbc/car/hyundai/interface.py": "71a8c880c0499cacc0f061a0b34ad96763e2b6af48d49f352406df7a359bc59b", - "opendbc_repo/opendbc/car/hyundai/values.py": "142b1f59390688b92a20836b6d17f1d8959457be3dd0d871b61fe4b6bf858acc", - "opendbc_repo/opendbc/car/mazda/interface.py": "99a9388a40e27075127d4548ebc81d728f7835a543d6a980256a6b9f41c7c486", - "opendbc_repo/opendbc/car/gm/interface.py": "0bdedcf1f002bd3f9f2531aa370e0618182fbd48849b0aeda20045f277f1fb6a", - "opendbc_repo/opendbc/car/gm/values.py": "2e078151492e47cf0f600bf5125dad689bc4951df0c12369771f8f236244cb70", - "openpilot/starpilot/car/ford/aol.py": "c4ecbcbe5b35db45bab003e98d44732df4f154eb241cd65e1767977f1a29dc2d", - "openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" - } - }, - "7395-with-ford-engagement-fix": { - "revision": "7395a0da33267fb1ad4d0cdfd34de2aed915fd98", - "sha256": { - "openpilot/selfdrive/controls/controlsd.py": "77ff305cdacba320e146d5b0165bfbd3ce6409f95e19b430002615af818f6068", - "openpilot/selfdrive/controls/lib/latcontrol_torque.py": "137d1e042fa380bdbda767c8ec8641caaa85ac527f890b51870b74a2ba7e2af6", - "openpilot/starpilot/lateral/corolla_tss2_policy.py": "4729bb491fa0aa72218457e4f120b6c87c6e733daf57e049ba3985366e64d3df", - "openpilot/starpilot/lateral/lane_change_smoothing.py": "8647403d8b597bcd0e9ca84e9c4d5bdd08fd538ca00ec36b51a35f066fd6ec04", - "openpilot/starpilot/lateral/lane_change_preferences.py": "14d17bc871dbc51f25d3fbc108d6db7070abe052b781385fd83923fdd3f531cd", - "opendbc_repo/opendbc/car/chrysler/carcontroller.py": "5cd225d4a438e3017a7717f5833d4b5eab332ae985b5705040915a2afb1b6888", - "opendbc_repo/opendbc/car/chrysler/interface.py": "d4e6b9bbe588ea6e9a4b1523ce8f93d261346261d6bf12a73b912b20ad4e41dc", - "opendbc_repo/opendbc/car/chrysler/chryslercan.py": "2c05ab6eb181aff4ebbad46d3c3162f3d3f068ac449727e6f9269f685a7b49a9", - "opendbc_repo/opendbc/car/ford/interface.py": "34e160022a97052e2f38968401a170a341ed3a1b5e9e71a26fbc843af2410ae1", - "opendbc_repo/opendbc/car/ford/carcontroller.py": "17e862311f90b3523fe635d1e2a70c44e01a6c824d62cc354e21d81c8ec91235", - "opendbc_repo/opendbc/car/ford/fordcan.py": "0e614b522bb9de2cbeaad30ce0f4d077cb914ac76f3aa02c60f277e5903e54c9", - "opendbc_repo/opendbc/car/hyundai/interface.py": "71a8c880c0499cacc0f061a0b34ad96763e2b6af48d49f352406df7a359bc59b", - "opendbc_repo/opendbc/car/hyundai/values.py": "142b1f59390688b92a20836b6d17f1d8959457be3dd0d871b61fe4b6bf858acc", - "opendbc_repo/opendbc/car/mazda/interface.py": "99a9388a40e27075127d4548ebc81d728f7835a543d6a980256a6b9f41c7c486", - "opendbc_repo/opendbc/car/gm/interface.py": "0bdedcf1f002bd3f9f2531aa370e0618182fbd48849b0aeda20045f277f1fb6a", - "opendbc_repo/opendbc/car/gm/values.py": "2e078151492e47cf0f600bf5125dad689bc4951df0c12369771f8f236244cb70", - "openpilot/starpilot/car/ford/aol.py": "6f00b6a8707ddfee770bbfeb13e2d60941995c999a37fbe912234751beace19c", - "openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" - } - }, - "3dfea-production": { - "revision": "3dfea0191a96a23f6351efc81100b8f99cff0256", - "sha256": { - "opendbc_repo/opendbc/car/chrysler/carcontroller.py": "5cd225d4a438e3017a7717f5833d4b5eab332ae985b5705040915a2afb1b6888", - "opendbc_repo/opendbc/car/chrysler/chryslercan.py": "2c05ab6eb181aff4ebbad46d3c3162f3d3f068ac449727e6f9269f685a7b49a9", - "opendbc_repo/opendbc/car/chrysler/interface.py": "d4e6b9bbe588ea6e9a4b1523ce8f93d261346261d6bf12a73b912b20ad4e41dc", - "opendbc_repo/opendbc/car/ford/carcontroller.py": "17e862311f90b3523fe635d1e2a70c44e01a6c824d62cc354e21d81c8ec91235", - "opendbc_repo/opendbc/car/ford/fordcan.py": "0e614b522bb9de2cbeaad30ce0f4d077cb914ac76f3aa02c60f277e5903e54c9", - "opendbc_repo/opendbc/car/ford/interface.py": "34e160022a97052e2f38968401a170a341ed3a1b5e9e71a26fbc843af2410ae1", - "opendbc_repo/opendbc/car/gm/interface.py": "81085b2be288dabe4fd581eb34b3a99b4d3d87c834048ef1495733edc58c6a64", - "opendbc_repo/opendbc/car/gm/values.py": "967c4cd4271e61295143455bdc6bfc346bee30b8456441e6b0612b83644e6c1e", - "opendbc_repo/opendbc/car/hyundai/interface.py": "6bc2d4b8342e86ed44cf2c4ae86fae8eb754d10975311071a0553c3b2825d418", - "opendbc_repo/opendbc/car/hyundai/values.py": "83c262fe6baeac3172a0388f9b3614645f8935d2cfb5c8e216f02c42db775137", - "opendbc_repo/opendbc/car/mazda/interface.py": "99a9388a40e27075127d4548ebc81d728f7835a543d6a980256a6b9f41c7c486", - "opendbc_repo/opendbc/safety/modes/toyota.h": "9ef6b1deaa508cd0856fa2d4fb9d866a5a30e79f2bd0eb2e985d9d0e257a8f5a", - "openpilot/selfdrive/car/card.py": "bcba9f47f340bc0459005d658fcd280af5dffb282b9c5159bb4e23d43a7853a4", - "openpilot/selfdrive/controls/controlsd.py": "d40f9f27b2e24f9cff07590e9fb3eecc82a4042046759a62467020a81cec479d", - "openpilot/selfdrive/controls/lib/latcontrol_torque.py": "97a876b8eb99cd445d2ec9804e10aa4967c0348d01d8997afaa84cbdd06ca45f", - "openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09", - "openpilot/starpilot/aol/runtime.py": "8538314a48fd680f03e82cafb81cf789f6c1ce45f8dd0278fb9b7f0f002f6e6d", - "openpilot/starpilot/aol/vehicle.py": "1e1b693fbc1d405c3a6ddee82e442f7bb03a9255f62fafba849d17fdb1b5687c", - "openpilot/starpilot/aol/wire.py": "f3f0955844a02cf2ac6f0062ae0b51f117b2214a238563bb48e3d94a7294c7bf", - "openpilot/starpilot/car/ford/aol.py": "6f00b6a8707ddfee770bbfeb13e2d60941995c999a37fbe912234751beace19c", - "openpilot/starpilot/car/toyota/aol.py": "bcb7c6f1ee6b8d425ce9c339f931597bf2ae40e0658552a1efb0aafd044e65f3", - "openpilot/starpilot/lateral/corolla_tss2_policy.py": "7fb1784504d38a7dc85fa047a4fc97bdd17f8f924e0cf62ef27fbd87796342af", - "openpilot/starpilot/lateral/lane_change_preferences.py": "14d17bc871dbc51f25d3fbc108d6db7070abe052b781385fd83923fdd3f531cd", - "openpilot/starpilot/lateral/lane_change_smoothing.py": "8647403d8b597bcd0e9ca84e9c4d5bdd08fd538ca00ec36b51a35f066fd6ec04", - "openpilot/starpilot/lateral/torque_turn_assist.py": "6eae4db9585eeab602e496e07406d733a80c1906173b90b9588dfd9cdba29276", - "openpilot/starpilot/vehicle_preferences.py": "a502aff216fe3888f2dbca8662949646c60f1c40e584ceee5baa9628bca79d59", - "tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832" - }, - "verification": "Every listed runtime source equals this committed revision; no production override during bounded replay." - }, - "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay": { - "revision": "4ca263696691268a5ed229a6e65f743e435b9d5d", - "stage_sha256": "ec59971db14d54d299146f5664a9ea542cbead0b4dd23c922b498fa92904a476", - "flags_sha256": "d10c6fe89cae13d515548a3248f3caebcad94a780fa3a27bd9d9e24bda36ac51", - "source_map_sha256": "1ff252c707f164d77d1ee8a9ba1e435da0e05ffd9ea365524bb90ae9424e58b7", - "sha256": { - "opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7", - "opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc", - "opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a", - "opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48", - "tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", - "tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", - "openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" - }, - "actual_outer_before": { - "path": "/audit/oct12-toyota-replay-root-output-v1/before.json", - "sha256": "8ed6201127f1fac89a4ced83d16a9af3ef31816bcac41a06333fda713f3d106b", - "mode": 420, - "kind": "file" - }, - "actual_outer_runtime": { - "path": "/audit/oct12-toyota-replay-root-output-v1/runtime.json", - "sha256": "10dd35d1b626788cce130910b7b013c0d544e08f0426358011bce141f8788ec1", - "mode": 420, - "kind": "file" - }, - "scope": "Actual current checkout plus explicitly root-approved staged source epoch; selected replay dependencies pinned; full source/import/artifact association in outer descriptors" - }, - "d23b405-native-cruise-floor": { - "revision": "d23b4059862910f37a05b99179edb079af3e7640", - "sha256": { - "openpilot/selfdrive/controls/plannerd.py": "5b00fbe40537a678982ea90947def8631ba88d65c1975aabb0c452f0a8ed89d8", - "openpilot/selfdrive/controls/lib/longitudinal_planner.py": "0c8ce4622140c1f775bb829777dfd0aa47d4e8997c8f254a0859fb14e466542e", - "openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py": "dbd13f1abb852b6e6a69bc2a5789899a58125271b814128fff983ba239687844", - "openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", - "openpilot/selfdrive/test/process_replay/process_replay.py": "9b6c6f16b5672a99923778bfdf3c388d629bac97ee0c9ae2fcfe426cb5e2365a", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", - "tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", - "tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15" - }, - "verification": "Hosted CI built and replayed this committed revision using the unchanged production-default replay command. Source digests were independently checked against its immutable Git blobs; no local native replay was run." - }, - "83a90-stock-long-measured-mpc-state": { - "revision": "83a90e89b4ff7e656c0964f90832b6bce6bb1407", - "sha256": { - "tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", - "openpilot/selfdrive/test/process_replay/process_replay.py": "383b877fe764441d9efa0ae651f919da3532151047bedc99a2826a35bc9669b5", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "openpilot/selfdrive/controls/plannerd.py": "04d4a837afe3b9b88b24ad2ea261f5a2bfe2be73d3113f680435ce210c37742c", - "openpilot/selfdrive/controls/lib/longitudinal_planner.py": "29db2fb671022ad04075fea9cd4a8c4a2edf619f74ec04afcc27aced59deeaed", - "openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py": "f4871d6da3d9611356fb89915487ac9311677f692a7df91021649072092f7237", - "openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json": "0f118242411e3ec75fc8ff522cdb93f84af1f1d125867f1f5f5ca39a9b859e6e" - }, - "native_origins": { - "openpilot.common.params": { - "origin": "/work/openpilot/common/params.py", - "sha256": "e8bfb2f2ee4ed002f50bb6beabd531aa5cb7a22caeaa0a0a09750f252a475654" - }, - "msgq.visionipc.visionipc_pyx": { - "origin": "/work/msgq_repo/msgq/visionipc/visionipc_pyx.so", - "sha256": "5ace11b3a081bbb5636aaf3792a6ee89c33f6bce0c0a57a0ca3e533f065793c6" - }, - "Params ctypes native": { - "origin": "/work/openpilot/common/libparams_c.so", - "sha256": "e0d893463620aaf52d4302be7a69dbe0b4f307b886864865112a81cc5acd5ab4" - } - }, - "verification": "Actual paired current and exact843dd22 parent-state argument replay in one exclusive lease. All recorded source/native/HEAD/index/foreign custody checks passed; comparison fields and tolerances unchanged." - }, - "989-subaru-frozen-smoothing-card": { - "revision": "989beaae3ce60999ad8b7e07be4e6e3fdfaa6938", - "sha256": { - "opendbc_repo/opendbc/car/subaru/values.py": "a5dc8e0c5c0fa9ad43615ac149f8bb63a105d900650b0f0c53e11911902878ba", - "opendbc_repo/opendbc/car/subaru/stock_aol.py": "279104abe844258d5e010ee35108ee5c69b0b1aa1ab25c850323c60216534595", - "openpilot/starpilot/car/subaru/smoothing.py": "38c0c6e4a9cdde0f203ac69ed65e1ed8490a6f976d624fafdab91fb820bcea1b", - "openpilot/starpilot/vehicle_preferences.py": "bb01590ede99e5450356258ce2b4dfb3bae334ddded304d19d84b2641b7b86e0", - "openpilot/selfdrive/car/card.py": "bc4f77c3ac110a49a840a0ed3d762acb1614466fd1bb63123da80ae0ef0c75c7", - "openpilot/starpilot/car/subaru/tests/test_smoothing_factory.py": "261c026576da773c8eaad7afab05e8ac5753ab7af1e82640823f17531ffd56b6", - "openpilot/selfdrive/test/process_replay/process_replay.py": "383b877fe764441d9efa0ae651f919da3532151047bedc99a2826a35bc9669b5", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", - "tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15" - }, - "verification": "Completed hosted process replay reused verbatim. Pure decoding/comparison of all19127 output messages finds exactly two CarParams.flags deltas141->8333; clearing only SMOOTHING_BOUND restores zero differences using unchanged Card ignores/tolerance. No local native replay or source overlay." - }, - "9eab5400a44b84f8c96d99b2b43a7b75242caf22": { - "revision": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "sha256": { - "opendbc_repo/opendbc/car/hyundai/daw.py": "51860838771d16f034256815787e3cec8e0d94882d0a157c6858e2b2fcfc626a", - "opendbc_repo/opendbc/car/hyundai/carcontroller.py": "49464cf2e23973fbfeac4c4856ef60a80e8e26d99ff9fde214a3a388b62aad73", - "opendbc_repo/opendbc/car/toyota/interface.py": "86f1d7e0ec97512cfd0b168703e954bcd4925a0362efb88cd2ad054f0553e50c", - "openpilot/selfdrive/selfdrived/selfdrived.py": "30395e9d61d280a84241cedfd7d876e65a71bd39074100e9304a56bdc6236cf7", - "openpilot/selfdrive/locationd/lagd.py": "d8d6f7eb97009f9b6fc3b2291b273a14056bb7e88e6edbfecb97c773074c26a1", - "openpilot/selfdrive/locationd/calibrationd.py": "25851a6715ffc95ac0bb210a774c8add6beb1f34b25dd6776aad9851202a98ce", - "openpilot/starpilot/lateral/prius_policy.py": "ee82f29b0ee6b633e765fe5a615487ebcd03c71a06959b5f33174e723c32aace", - "openpilot/starpilot/lateral/hkg_torque_policy.py": "378e65d0cbac24397fe93561f8684241e619226cb3f2869ff22d090614a41f7c", - "openpilot/selfdrive/test/process_replay/process_replay.py": "5434b75b8f244ae2b090853e4e02c080dc0a550c77145024ff393973d5b904e9", - "openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", - "tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832" - }, - "verification": "Unmodified hosted process outputs from exact source revision, artifact 13302572790. Eight causal runtime files independently match qualified baf883 Git blobs. Current helper/config/comparator identities verified. The seven bounded semantic contracts were independently reviewed and accepted; per-output evidence retains the qualification limits. This is not a full-CI or physical-performance qualification." - } - } +"version":1, +"review_status":"Reviewed intentional feature contracts; immutable expectations preserve full message and field comparisons.", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"configuration":"Production default replay. Independent verified firmware/VIN cache; no additional ignored fields/messages.", +"references":[ +{ +"segment":"regenAA0FC4ED71E|2025-04-08--22-57-50--0", +"process":"card", +"file":"regenAA0FC4ED71E_2025-04-08--22-57-50--0_card.zst", +"bytes":249875, +"sha256":"b84219a675e9719d49bc9fa5f1549cb3e993520edab7c8f953bcfcef2a2d8f0e", +"input_sha256":"0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", +"input_bytes":11873030, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":249723, +"official_baseline_sha256":"3ae04a6add96dea4ecdbd363ee875935331c308c61397ce10b2255ee6b8f42a0", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"HYUNDAI_SONATA", +"contract":"Classic Hyundai DAW advisory replacement forwards only fresh permitted source-bus 2 packets to bus 0, preserving six payload bytes except clearing status bits 0..2 of byte 5 for statuses 1..3. On this recording exactly 5891 entries are added, all 0x53E bus 0 length 6 payload 000000000840; all other compared output is unchanged. Recorded source/freshness and native safety qualification is required, not merely constant-output attribution.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"previous_reviewed_expectation":{ +"segment":"regenAA0FC4ED71E|2025-04-08--22-57-50--0", +"process":"card", +"file":"regenAA0FC4ED71E_2025-04-08--22-57-50--0_card.zst", +"bytes":249563, +"sha256":"cd0e31cb7268f2d197e311d0c1686a741c9a328b85754dd89c41f94c69f19e5a", +"input_sha256":"0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", +"input_bytes":11873030, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":249723, +"official_baseline_sha256":"3ae04a6add96dea4ecdbd363ee875935331c308c61397ce10b2255ee6b8f42a0", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"HYUNDAI_SONATA", +"contract":"Current BSM capability representation; remaining recorded output fields unchanged.", +"producing_source_snapshot":"7395-production" +}, +"intentional_change_commit":"507373cb7de69409c77924c236e417dd4454d7eb", +"hosted_evidence_run":41788199375, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"b84219a675e9719d49bc9fa5f1549cb3e993520edab7c8f953bcfcef2a2d8f0e", +"comparison_reference_sha256":"cd0e31cb7268f2d197e311d0c1686a741c9a328b85754dd89c41f94c69f19e5a", +"difference_count":5891, +"difference_fields":{ +"sendcan":5891 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"2e3313d188b4b2a4ad22892fcf163c7c285583af237173c02b516df6d885ceef", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0, +"qualification_sha256":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"raw_evidence_sha256":{ +"noncalibration-REPORT.md":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"noncalibration-EVIDENCE_SHA256.txt":"179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", +"noncalibration-source-manifest.json":"8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", +"noncalibration-full-pair-exact-equality.json":"540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", +"noncalibration-daw-summary.json":"8141e4fe54205fe7d0e44e23a1013bedeb71f14d799dc58c8b7f344644b83e7b", +"noncalibration-daw-trace.jsonl":"b82b5479df6d7ed7df56b19a50e6a0a9be24eae45e6e8bf1afa7a7473eb3fe8a", +"noncalibration-daw-native-debug.json":"2bab850dbff5a77ff54841c91e09b4cbe86e0981100fa377320050946cb21cc9", +"noncalibration-daw-native-release.json":"dc579770979332ffaea0e60b0ba7aa8049e1e5dc0b486af138a157b4c0396b09", +"noncalibration-focused-tests.txt":"0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"reviewed_recorded_scope":"600 genuine source-bus 2 packets, status 0; returned bus-128 copies ignored. 5891 fresh admitted emissions and 31 exact stale omissions; debug/release native advisory admission preserves controls_allowed false. Other commands and states unchanged. This recording does not exercise alert-status suppression or all Panda traffic." +} +}, +{ +"segment":"regenAFB9780D823|2025-04-08--23-00-34--0", +"process":"card", +"file":"regenAFB9780D823_2025-04-08--23-00-34--0_card.zst", +"bytes":301448, +"sha256":"8a4ad9101c3a26776b1fe8339e8575b50442c4264f102aa0027d441d176091ca", +"input_sha256":"4cc51a77bf8d128d5720fd692e5a0994c887ee35fdd949cc0ce54d4215e2b7a2", +"input_bytes":12527194, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAFB9780D823_2025-04-08--23-00-34--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":282094, +"official_baseline_sha256":"e3ac4fc1ce239d1bb864e32d1acf6b33ad134a1bf898ef739a0cc3faf3b18d58", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"KIA_EV6", +"contract":"CAN-FD torque cap 409 with speed-dependent slew limits; torque, normalized torque output and dependent LKAS checksum reflect that contract. Counters, enables and remaining compared fields are unchanged. Initial CarState consumes the first recorded CAN batch; its speed-filter seed and subsequent acceleration transient follow that batch. Camera LKAS damping is 0 as in Dom; all 5902 changed payloads match the hosted HYUNDAI2 replay byte-for-byte. Only damping byte 8 and its CRC differ; all other compared fields and messages are retained.", +"producing_source_snapshot":"d41159e65b399ff3b5ef5fd339822b6c628c7096" +}, +{ +"segment":"regen1455E3B4BDF|2025-04-09--03-26-06--0", +"process":"controlsd", +"file":"regen1455E3B4BDF_2025-04-09--03-26-06--0_controlsd.zst", +"bytes":162036, +"sha256":"f7f4305ff93cb7a52425eff94527d3c42791293758df0e3becf17ba11f6d0b15", +"input_sha256":"876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", +"input_bytes":9272538, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":344497, +"official_baseline_sha256":"a3308d317cd4a63fe1222376a2df0a9ff90a47db916356abcf852e396f232d45", +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"TOYOTA_COROLLA_TSS2", +"contract":"Legacy Corolla recording has no current native axis or safety acknowledgement. Both axes fail closed with zero torque/accel even while stock enable is true; fresh matching messages independently grant both axes.", +"producing_source_snapshot":"3dfea-production", +"review_evidence":{ +"ci_run":37730163667, +"ci_job":113157245274, +"comparison_reference_sha256":"affd959f458ac1ae9a6e13920cc23ce6f5eccede27f45e168bbfb1e7ad6465b5", +"difference_count":93049, +"difference_fields":{ +"carControl.cruiseControl.override":5855, +"carControl.actuators.torque":5691, +"carControl.actuators.accel":4743, +"carControl.latActive":5855, +"carControl.longActive":5855, +"controlsState.longControlState":5855, +"controlsState.ufAccelCmd":4743, +"controlsState.lateralControlState.torqueState.active":5855, +"controlsState.lateralControlState.torqueState.f":5813, +"controlsState.lateralControlState.torqueState.output":5691, +"controlsState.lateralControlState.torqueState.actualLateralAccel":5656, +"controlsState.lateralControlState.torqueState.desiredLateralAccel":5695, +"controlsState.lateralControlState.torqueState.desiredLateralJerk":5638, +"carControl.actuators.longControlState":5855, +"controlsState.lateralControlState.torqueState.error":5372, +"controlsState.lateralControlState.torqueState.p":5111, +"controlsState.lateralControlState.torqueState.i":3766 +}, +"difference_sha256":"4c2c4e53e08876212f6cfcbf673bfecc638a608aca1a1e53f0639e4722ffdca3", +"behavior_proof":{ +"input_native_axis_messages":0, +"input_native_wire_messages":0, +"carControl_count":6001, +"stock_enabled_count":5855, +"nonzero_or_active_output_count":0 +}, +"regression_tests":{ +"openpilot/starpilot/aol/tests/test_toyota.py":"6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe", +"opendbc_repo/opendbc/safety/tests/test_toyota.py":"35e74cd87d72a2b0e7f56cb70bd250273d386ce8c7abcbcee63e27ad86b7fb40" +} +} +}, +{ +"segment":"regenBF81EA96E08|2025-04-08--23-06-54--0", +"process":"card", +"file":"regenBF81EA96E08_2025-04-08--23-06-54--0_card.zst", +"bytes":241726, +"sha256":"b4d14406e0e67998a719f2a63a208c0007b19713da1eca6b7b3e91618d29fee5", +"input_sha256":"cc1d8bb9729a71c3166e04343e436a67fbc1ff7107a30201a5d13ea9b45ea143", +"input_bytes":11420074, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenBF81EA96E08_2025-04-08--23-06-54--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":244613, +"official_baseline_sha256":"697b28fe6f4491c6309865da6db451ad0971d1c53a9b1edf8aaf914b8fcfcd23", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"RAM_1500_5TH_GEN", +"contract":"Original RAM DT EPS speed-window latch, Drive and cooldown; exact recorded latch and CAN-byte verification.", +"producing_source_snapshot":"7395-production" +}, +{ +"segment":"regen7366F13F6A1|2025-04-08--23-07-07--0", +"process":"controlsd", +"file":"regen7366F13F6A1_2025-04-08--23-07-07--0_controlsd.zst", +"bytes":343523, +"sha256":"1bc657997895c768162416c8b0e6e08fe932c97e3aae0253682f7d34eb866211", +"input_sha256":"f501c1c99bae27ca710f40f723a1960ea4e898836d7edfb57ea6397591e5aff2", +"input_bytes":9393878, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen7366F13F6A1_2025-04-08--23-07-07--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":341816, +"official_baseline_sha256":"250dcc78707bf7671db682a56bc7f89fba37b22ad9ea6f62751aa4dc3eee73f5", +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"SUBARU_OUTBACK", +"contract":"Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. Paired exact old-limiter ablation restores the prior reference with zero full-comparator differences. Only lateral command and dependent lateral-controller state fields change; longitudinal, activation, cancel and health fields are unchanged.", +"producing_source_snapshot":"3a815cfdd467c22e495f03998b88da9a19927c49", +"intentional_contract_source_commit":"13d7b725b90a3b5d7860830ae23ce0046b8aa385", +"review_evidence":{ +"comparison_reference_sha256":"9fe580f915f8b6fdd4bfd20d5fe0a3f68a2e8b75ee7b2d7d88e44f70a8e91688", +"difference_fields":{ +"carControl.actuators.torque":494, +"controlsState.lateralControlState.torqueState.error":360, +"controlsState.lateralControlState.torqueState.p":341, +"controlsState.lateralControlState.torqueState.f":549, +"controlsState.lateralControlState.torqueState.output":494, +"controlsState.lateralControlState.torqueState.desiredLateralAccel":360, +"controlsState.lateralControlState.torqueState.desiredLateralJerk":558 +}, +"old_limiter_full_comparator_difference_count":0, +"actual_current_limiter_calls":6001, +"actual_current_unwind_exemption_calls":70, +"actual_old_limiter_calls":6001, +"command_and_activation_negative_controls":true, +"ordinary_per_service_validity_threshold":0.9, +"scope":"Recorded controlsd only; no sendCAN/Panda or physical proof." +} +}, +{ +"segment":"regen1271097D038|2025-04-09--03-26-00--0", +"process":"card", +"file":"regen1271097D038_2025-04-09--03-26-00--0_card.zst", +"bytes":194713, +"sha256":"a7d84f1355a5e18c1c9766a04051c9e3d2dd374fc9767f19ddc64460fa41dcc1", +"input_sha256":"6c10ce899270e4fc8350730e44cb39dfbda451670dd598798207ffc929baa69a", +"input_bytes":9846869, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1271097D038_2025-04-09--03-26-00--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":194676, +"official_baseline_sha256":"e455f07b55370e68761f303608012412d7bc8f02c7737fccebb0f0981af11f1c", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"CHEVROLET_BOLT_EUV", +"contract":"Current BSM capability representation; remaining recorded output fields unchanged.", +"producing_source_snapshot":"7395-production" +}, +{ +"segment":"regenACF84CCF482|2024-08-30--03-21-55--0", +"process":"card", +"file":"regenACF84CCF482_2024-08-30--03-21-55--0_card.zst", +"bytes":230838, +"sha256":"637465c61f0803760d3c70a19270cc5cd75c6dccb9ef1142ba2d61df37e99dc0", +"input_sha256":"a84e9f84c39802f58a64031e7c56b362c0e745b5c216848ca2d561f5ae6d440a", +"input_bytes":12309353, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenACF84CCF482_2024-08-30--03-21-55--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":230854, +"official_baseline_sha256":"32b9c2b6e7f2fb9a60585c1a0d8860ca951a75a11c9f9378b620b10fef3d70a8", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"MAZDA_CX9_2021", +"contract":"Current BSM capability representation; remaining recorded output fields unchanged.", +"producing_source_snapshot":"7395-production" +}, +{ +"segment":"regen755D8CB1E1F|2025-04-08--23-13-43--0", +"process":"lagd", +"file":"regen755D8CB1E1F_2025-04-08--23-13-43--0_lagd.zst", +"bytes":1206, +"sha256":"ee81e0ec00c8d182d8e7e8e103fcac8a644aa7b7673e8007637c06343459fdd3", +"input_sha256":"786dfef08325d24e8205320862adc940706ff3475ae082ea104127fb5da62823", +"input_bytes":11315727, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen755D8CB1E1F_2025-04-08--23-13-43--0_lagd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":1206, +"official_baseline_sha256":"69b5be0511e4e3335850034b73b89f5aba66fc37c9eaa2d1ccf026c51159baa7", +"config_sha256":"e1e41b168c825294a3093020ba2c8f7e2041816ab35ca6eb05039031d686eaf5", +"car_fingerprint":"FORD_BRONCO_SPORT_MK1", +"contract":"Bronco default actuator delay .22 plus unchanged lag estimator .20 offset.", +"producing_source_snapshot":"7395-production" +}, +{ +"segment":"regen5FCAC896BBE|2025-04-08--23-13-35--0", +"process":"controlsd", +"file":"regen5FCAC896BBE_2025-04-08--23-13-35--0_controlsd.zst", +"bytes":322963, +"sha256":"0d7f8d7c736b71a8024d281b45c52a9ed6c4eb7e452abb98ee011230676dce42", +"input_sha256":"2f2574c057b7cb55fbb2e05c99c5f1b1d6d894222422c4b51d4363ad66e6c840", +"input_bytes":11022997, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen5FCAC896BBE_2025-04-08--23-13-35--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":321443, +"official_baseline_sha256":"5f7c91fe6ebfc90433f3ed1e5fe75f7d8ea04e830badb44f9dabebb5a325c294", +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"RIVIAN_R1", +"contract":"Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. Paired exact old-limiter ablation restores the prior reference with zero full-comparator differences. Only lateral command and dependent lateral-controller state fields change; longitudinal, activation, cancel and health fields are unchanged.", +"producing_source_snapshot":"3a815cfdd467c22e495f03998b88da9a19927c49", +"intentional_contract_source_commit":"13d7b725b90a3b5d7860830ae23ce0046b8aa385", +"review_evidence":{ +"comparison_reference_sha256":"8ba5beb185e63b2fbda9f3fa303b76c4d95b1ccd4423b983bcc68b725a9bdfde", +"difference_fields":{ +"carControl.actuators.torque":422, +"controlsState.lateralControlState.torqueState.error":427, +"controlsState.lateralControlState.torqueState.p":418, +"controlsState.lateralControlState.torqueState.f":474, +"controlsState.lateralControlState.torqueState.output":422, +"controlsState.lateralControlState.torqueState.desiredLateralAccel":404, +"controlsState.lateralControlState.torqueState.desiredLateralJerk":657, +"controlsState.lateralControlState.torqueState.i":969 +}, +"old_limiter_full_comparator_difference_count":0, +"actual_current_limiter_calls":6001, +"actual_current_unwind_exemption_calls":95, +"actual_old_limiter_calls":6001, +"command_and_activation_negative_controls":true, +"ordinary_per_service_validity_threshold":0.9, +"scope":"Recorded controlsd only; no sendCAN/Panda or physical proof." +} +}, +{ +"segment":"regen755D8CB1E1F|2025-04-08--23-13-43--0", +"process":"controlsd", +"file":"regen755D8CB1E1F_2025-04-08--23-13-43--0_controlsd.zst", +"bytes":231567, +"sha256":"0d25fc30cb712b10194023ee2f58a81b0786e198af4bfba1805a6cf6561286d1", +"input_sha256":"786dfef08325d24e8205320862adc940706ff3475ae082ea104127fb5da62823", +"input_bytes":11315727, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen755D8CB1E1F_2025-04-08--23-13-43--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":228300, +"official_baseline_sha256":"7e6979128fc936c54cf583f5437e7464786744185c1dee8cb1b837a077f41d15", +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"FORD_BRONCO_SPORT_MK1", +"contract":"Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. Paired exact old-limiter ablation restores the prior reference with zero full-comparator differences. Only lateral command and dependent lateral-controller state fields change; longitudinal, activation, cancel and health fields are unchanged.", +"producing_source_snapshot":"3a815cfdd467c22e495f03998b88da9a19927c49", +"intentional_contract_source_commit":"13d7b725b90a3b5d7860830ae23ce0046b8aa385", +"review_evidence":{ +"comparison_reference_sha256":"fd6fb0e92c7aea24126e43a8d799c922b56180ba27a98b80490eccdf0ce5c2cb", +"difference_fields":{ +"carControl.actuators.steeringAngleDeg":541, +"controlsState.lateralControlState.angleState.steeringAngleDesiredDeg":541 +}, +"old_limiter_full_comparator_difference_count":0, +"actual_current_limiter_calls":6001, +"actual_current_unwind_exemption_calls":141, +"actual_old_limiter_calls":6001, +"command_and_activation_negative_controls":true, +"ordinary_per_service_validity_threshold":0.9, +"scope":"Recorded controlsd only; no sendCAN/Panda or physical proof." +} +}, +{ +"segment":"regen755D8CB1E1F|2025-04-08--23-13-43--0", +"process":"card", +"file":"regen755D8CB1E1F_2025-04-08--23-13-43--0_card.zst", +"bytes":461015, +"sha256":"30784565dec56ece8b2e0ffb0719bb1737a7da324272208d1be56d18697e99b6", +"input_sha256":"786dfef08325d24e8205320862adc940706ff3475ae082ea104127fb5da62823", +"input_bytes":11315727, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen755D8CB1E1F_2025-04-08--23-13-43--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":460163, +"official_baseline_sha256":"d7394671f4bf515436a418e649e3030e46c40e556f7564c09beaa24d7b543bc7", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"FORD_BRONCO_SPORT_MK1", +"contract":"BluePilot classic-CAN longitudinal safetyParam16385 and actuator delay.22. Neutral LKA clears the unused byte4 bit1; one steering frame differs by one curvature CAN unit. Warning and remaining actuation fields retain the reviewed prior output.", +"producing_source_snapshot":"72f16053b55aec2750c5ebf25d5b4b04f8bdb6fe", +"review_evidence":{ +"ci_run":41271159267, +"output_artifact":13069951134, +"previous_reference_sha256":"e308f1137f59c824d49e706d420e9464cea6068b3fa3c84fd9ceb16b0473e839", +"reference_rows":18426, +"changed_carParams":2, +"changed_neutral_LKA":1975, +"changed_curvature_frames":1, +"warning_fields_changed":false +} +}, +{ +"segment":"regenAFB9780D823|2025-04-08--23-00-34--0", +"process":"controlsd", +"file":"regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst", +"bytes":275301, +"sha256":"fae224431da5a69b6a66fd86c0a9021a691ec18ef50d8c9e9f5e5d3aa3a2b4e6", +"input_sha256":"4cc51a77bf8d128d5720fd692e5a0994c887ee35fdd949cc0ce54d4215e2b7a2", +"input_bytes":12527194, +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"KIA_EV6", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":273022, +"official_baseline_sha256":"ddcc644a94fcabb9be2ca8137883c096faf894937d3df7876244401ee1aac6bd", +"contract":"Use the vehicle-specific StarPilot torque policy by default, as required by 13839683908c449dfbb055cb4950e339ed2b1a1f. Saved controller choices, tuning parameters, and actuator safety limits are unchanged. Controller log version becomes 2; complete commands and controller states are compared.", +"producing_source_snapshot":"hkg-specific-controller-defaults-1383968390", +"intentional_change_commit":"13839683908c449dfbb055cb4950e339ed2b1a1f", +"hosted_evidence_run":42336724815, +"review_evidence":{ +"method":"Two native process replays with only the previous default-selection function reproduce both prior references exactly. After exact source restoration, two fresh current-default replays reproduce the published e1e3be94fe outputs with zero full-comparator differences. Original ignores and tolerances are unchanged.", +"paired_review_sha256":"c308311b7f7be0bb216bbacd5d07891e5ffe5571ade5aac8048095f793b92d70", +"compared_messages_per_replay":12002, +"previous_default_version":1, +"current_default_version":2, +"source_restored":true +}, +"previous_reviewed_expectation":{ +"file":"regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst", +"bytes":273026, +"sha256":"5377033cbc51124160dd1f2e0d4a6426e171acbd393f8d840d6b2403a317bb13", +"producing_source_snapshot":"3dfea-production" +} +}, +{ +"segment":"regen1271097D038|2025-04-09--03-26-00--0", +"process":"controlsd", +"file":"regen1271097D038_2025-04-09--03-26-00--0_controlsd.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1271097D038_2025-04-09--03-26-00--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":303868, +"official_baseline_sha256":"f08aa09cecaf29e8ff235e74b0acfcbea9ea0619c40de56aad1dc84ea30a7ef7", +"car_fingerprint":"CHEVROLET_BOLT_EUV", +"bytes":303851, +"sha256":"1a6277e4e8df1dd079217bf1b2dc46cb866e6a448f7479867f7b03a3a95fda80", +"input_sha256":"6c10ce899270e4fc8350730e44cb39dfbda451670dd598798207ffc929baa69a", +"input_bytes":9846869, +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"contract":"Turn Assist defaults on for qualified torque platforms; explicit TurnAssist=False restores every prior compared output field.", +"producing_source_snapshot":"3dfea-production", +"review_evidence":{ +"ci_run":37730163667, +"ci_job":113157245274, +"comparison_reference_sha256":"f08aa09cecaf29e8ff235e74b0acfcbea9ea0619c40de56aad1dc84ea30a7ef7", +"difference_count":338, +"difference_fields":{ +"carControl.actuators.torque":169, +"controlsState.lateralControlState.torqueState.output":169 +}, +"difference_sha256":"2c6f02bb4b5c647fb6e4b2c6771293e4f06f5228ac7762c444933bdf4df7dc50", +"behavior_proof":{ +"explicit_TurnAssist_false_full_comparison_differences":0, +"explicit_off_candidate_sha256":"f08aa09cecaf29e8ff235e74b0acfcbea9ea0619c40de56aad1dc84ea30a7ef7" +}, +"regression_tests":{ +"openpilot/starpilot/lateral/tests/test_turn_assist.py":"b9bc3dddf45720f3b7720ea1bc30512cb06fef9015ee098502ca7b8160e67fe3", +"openpilot/starpilot/lateral/tests/test_turn_model_runtime.py":"22fe08d4b05a96522ed40fbe3b9000cba8d38d3d2893d18a98a169317027ffb0" +} +} +}, +{ +"segment":"regen1455E3B4BDF|2025-04-09--03-26-06--0", +"process":"card", +"file":"regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":368030, +"official_baseline_sha256":"a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", +"car_fingerprint":"TOYOTA_COROLLA_TSS2", +"bytes":368163, +"sha256":"e491c7c017675411285abf0e1626185f458a6571b173833f70ba64b762c84dc3", +"input_sha256":"876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", +"input_bytes":9272538, +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"contract":"Current Toyota lead-dependent permit-braking hysteresis fromc6f00f7a4d changes only PERMIT_BRAKING and its checksum in1021 ACC_CONTROL frames. All other compared fields/messages are retained; no steering, lead, pedal, native or actuator-limit checks are relaxed.", +"producing_source_snapshot":"5fc5709e4d54f31dd575e66333271dbb260d5e9b", +"review_evidence":{ +"ci_run":39895639195, +"ci_artifact":12476424903, +"head":"1fdc8b89e8016be62df8e289d1f5f67561fdd6d7", +"causal_commit":"4e27abda7d", +"causal_assignment":"ret.steerAtStandstill = ret.minSteerSpeed <= 0.", +"full_CP_other_fields_exact":true, +"non_CP_message_payloads_byte_exact":true, +"only_changed_field":"carParams.steerAtStandstill", +"difference_count":2, +"actual_CI_sha256":"79baa812dc2681c021965eaceedf721e7fcb85e315c1b855697ec62b9800656f", +"previous_reference_sha256":"7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd", +"proof_sha256":"2ba6c13414ba96e6b64d96398022d232650e9e58c6a739cab39dc8952c067acf", +"no_new_ignores_or_tolerances":true +}, +"previous_reviewed_expectation":{ +"segment":"regen1455E3B4BDF|2025-04-09--03-26-06--0", +"process":"card", +"file":"regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":368030, +"official_baseline_sha256":"a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", +"car_fingerprint":"TOYOTA_COROLLA_TSS2", +"bytes":368039, +"sha256":"7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd", +"input_sha256":"876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", +"input_bytes":9272538, +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"contract":"Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.", +"producing_source_snapshot":"root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay", +"review_evidence":{ +"ci_run":38207706213, +"ci_job":114674772155, +"head":"4ca263696691268a5ed229a6e65f743e435b9d5d", +"comparison_reference_sha256":"c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e", +"difference_count":20, +"difference_fields":{ +"sendcan.1.dat":7, +"sendcan.2.dat":9, +"sendcan.3.dat":4 +}, +"actual_paired_proof":{ +"path":"/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen1455E3B4BDF_2025-04-09--03-26-06--0/actual-paired-proof.json", +"sha256":"6de5981bf3103f857a5f35a1a76fb18115daffaf6e08eea453912b0a33e17966", +"mode":420, +"kind":"file" +}, +"source_sha256":{ +"opendbc_repo/opendbc/car/toyota/carcontroller.py":"a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7", +"opendbc_repo/opendbc/car/toyota/toyotacan.py":"64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc", +"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py":"e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a", +"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc":"818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48", +"tools/ci/replay_fixture_cache.py":"f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", +"tools/ci/replay-fixture-cache.json":"99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", +"openpilot/selfdrive/test/process_replay/test_processes.py":"559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"openpilot/selfdrive/test/process_replay/process_replay.py":"a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" +} +}, +"previous_reviewed_expectation":{ +"segment":"regen1455E3B4BDF|2025-04-09--03-26-06--0", +"process":"card", +"file":"regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":368030, +"official_baseline_sha256":"a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", +"car_fingerprint":"TOYOTA_COROLLA_TSS2", +"bytes":368011, +"sha256":"c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e", +"input_sha256":"876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", +"input_bytes":9272538, +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"contract":"Finalized Corolla native full-axis profile uses word 73 and alternative experience 32; every other compared Card output field remains unchanged.", +"producing_source_snapshot":"3dfea-production", +"review_evidence":{ +"ci_run":37730163667, +"ci_job":113157245274, +"comparison_reference_sha256":"a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033", +"difference_count":2, +"difference_fields":{ +"carParams.alternativeExperience":2 +}, +"difference_sha256":"46a4645f5d6fda6b02a81909ee5aa24cf427c4753ae7e8db7495985a1592e473", +"behavior_proof":{ +"factory_safety_param":73, +"factory_alternative_experience":32 +}, +"regression_tests":{ +"openpilot/starpilot/aol/tests/test_toyota.py":"6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe" +} +} +} +}, +"intentional_change_commit":"c6f00f7a4d1f60734897c12f160715a6a49775f2", +"hosted_evidence_run":40521627641 +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"card", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":305708, +"official_baseline_sha256":"9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", +"car_fingerprint":"TOYOTA_PRIUS", +"input_bytes":10846201, +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"bytes":305769, +"sha256":"a8ce155bed38e2f3f6067d9aa9d629b99864f0391bc47ca04e08102a0e5ce809", +"contract":"Stock Prius factory contract for recorded EPS 8965B47023 uses steerActuatorDelay 0.14 and steeringAngleDeadzoneDeg 0.3; the 8965B47060 exception remains separately protected. Exactly these two values change in each of two CarParams messages. All other compared output remains unchanged; this does not qualify active torque shaping.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"a8ce155bed38e2f3f6067d9aa9d629b99864f0391bc47ca04e08102a0e5ce809", +"comparison_reference_sha256":"b883532ae2872fd21e27c46adafcd3c0b622915eec19fc5bfb6f75fdf6e55a70", +"difference_count":4, +"difference_fields":{ +"carParams.lateralTuning.torque.steeringAngleDeadzoneDeg":2, +"carParams.steerActuatorDelay":2 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"5612d2c41bdeae57649276e7a8c36c7b072bc923e19269113c4896a5221e520c", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0, +"qualification_sha256":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"raw_evidence_sha256":{ +"noncalibration-REPORT.md":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"noncalibration-EVIDENCE_SHA256.txt":"179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", +"noncalibration-source-manifest.json":"8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", +"noncalibration-full-pair-exact-equality.json":"540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", +"noncalibration-prius-summary.json":"4cbbbc97736d44a866377a0ca08dbb6b03851e6a3b7dec45253da5945a3669bc", +"noncalibration-focused-tests.txt":"0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"reviewed_recorded_scope":"Recorded EPS 8965B47023 factory values and unchanged post-factory alternativeExperience operation are proven; 8965B47060 exception and Standard selection retained. This is contract recording, not empirical certification of 0.14-second/0.3-degree tuning." +}, +"previous_reviewed_expectation":{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"card", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":305708, +"official_baseline_sha256":"9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", +"car_fingerprint":"TOYOTA_PRIUS", +"input_bytes":10846201, +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"bytes":305725, +"sha256":"b883532ae2872fd21e27c46adafcd3c0b622915eec19fc5bfb6f75fdf6e55a70", +"contract":"Current stock Prius factory uses qualified safety profile0x6242, HYBRID flag and marked Card AE32. Exactly two CarParams events change; all remaining compared messages and fields are retained. Native-positive parser/Controls/Card cases for this current profile pass independently.", +"producing_source_snapshot":"5fc5709e4d54f31dd575e66333271dbb260d5e9b", +"review_evidence":{ +"ci_run":39895639195, +"ci_artifact":12476424903, +"head":"1fdc8b89e8016be62df8e289d1f5f67561fdd6d7", +"causal_commit":"4e27abda7d", +"causal_assignment":"ret.steerAtStandstill = ret.minSteerSpeed <= 0.", +"full_CP_other_fields_exact":true, +"non_CP_message_payloads_byte_exact":true, +"only_changed_field":"carParams.steerAtStandstill", +"difference_count":2, +"actual_CI_sha256":"77c1ae09380fd6ae657b96dc89b1391fa1552b98de1adc4a284bdea2dee38bc4", +"previous_reference_sha256":"ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf", +"proof_sha256":"2ba6c13414ba96e6b64d96398022d232650e9e58c6a739cab39dc8952c067acf", +"no_new_ignores_or_tolerances":true +}, +"previous_reviewed_expectation":{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"card", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":305708, +"official_baseline_sha256":"9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", +"car_fingerprint":"TOYOTA_PRIUS", +"input_bytes":10846201, +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"bytes":305683, +"sha256":"ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf", +"contract":"Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.", +"producing_source_snapshot":"root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay", +"review_evidence":{ +"ci_run":38207706213, +"ci_job":114674772155, +"head":"4ca263696691268a5ed229a6e65f743e435b9d5d", +"comparison_reference_sha256":"9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2", +"difference_count":222, +"difference_fields":{ +"sendcan.1.dat":222 +}, +"actual_paired_proof":{ +"path":"/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen218A4DCFAA1_2025-04-08--22-57-51--0/actual-paired-proof.json", +"sha256":"2530635df4b9014ce3fd4e70fe59b8d6655196f4fc2eddc5736fb87721d8c381", +"mode":420, +"kind":"file" +}, +"source_sha256":{ +"opendbc_repo/opendbc/car/toyota/carcontroller.py":"a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7", +"opendbc_repo/opendbc/car/toyota/toyotacan.py":"64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc", +"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py":"e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a", +"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc":"818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48", +"tools/ci/replay_fixture_cache.py":"f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", +"tools/ci/replay-fixture-cache.json":"99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", +"openpilot/selfdrive/test/process_replay/test_processes.py":"559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"openpilot/selfdrive/test/process_replay/process_replay.py":"a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" +} +} +}, +"intentional_change_commit":"c6f00f7a4d1f60734897c12f160715a6a49775f2", +"hosted_evidence_run":40521627641 +}, +"intentional_change_commit":"8f59bfc56c36a2cc3999e9ae5e07220f3020d932", +"hosted_evidence_run":41788199375 +}, +{ +"segment":"regenAA0FC4ED71E|2025-04-08--22-57-50--0", +"process":"plannerd", +"file":"regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd.zst", +"bytes":233977, +"sha256":"ba0df7785de623f53a04ee2b8c1bc3a996dc5a772b8040013b9fd4320b47c26a", +"input_sha256":"0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", +"input_bytes":11873030, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":231754, +"official_baseline_sha256":"14183eef58152a35f9767bfa50d05b1713d43f07634562f8714b1826285f995d", +"config_sha256":"2e09141ab13550128aa942951a7183b77f9e598fda920dd345f16a57b749b2f1", +"car_fingerprint":"HYUNDAI_SONATA", +"contract":"Intentional upstream stock-longitudinal MPC initial-state change: when openpilotLongitudinalControl is false, initialize MPC with measured carState.vEgo/aEgo rather than filtered velocity/prior selected target. Openpilot-longitudinal behavior stays predicted. Exact parent-state argument replay restores the selected prior reference with zero full-comparator differences; all comparison fields and tolerances remain unchanged.", +"producing_source_snapshot":"83a90-stock-long-measured-mpc-state", +"review_evidence":{ +"method":"Actual fresh two-route paired current/old-MPC-state runs, one exclusive native lease; exact parent843dd22 call arguments only. Current outputs retained verbatim; no ignored-field/message or tolerance changes.", +"paired_run":"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b", +"comparison_reference_sha256":"b0fef64d4b5552854599211244f8eae0dce62399438d62711cf3b5241574a47e", +"difference_count":9876, +"difference_fields":{ +"longitudinalPlan.accels.0":342, +"longitudinalPlan.accels.1":343, +"longitudinalPlan.accels.2":338, +"longitudinalPlan.accels.3":317, +"longitudinalPlan.accels.4":317, +"longitudinalPlan.jerks.0":339, +"longitudinalPlan.jerks.1":339, +"longitudinalPlan.jerks.2":337, +"longitudinalPlan.jerks.3":317, +"longitudinalPlan.jerks.4":316, +"longitudinalPlan.jerks.5":312, +"longitudinalPlan.accels.5":304, +"longitudinalPlan.jerks.6":310, +"longitudinalPlan.jerks.7":310, +"longitudinalPlan.accels.6":293, +"longitudinalPlan.accels.7":269, +"longitudinalPlan.speeds.2":256, +"longitudinalPlan.speeds.3":261, +"longitudinalPlan.speeds.4":257, +"longitudinalPlan.speeds.5":258, +"longitudinalPlan.speeds.6":256, +"longitudinalPlan.speeds.7":256, +"longitudinalPlan.speeds.8":253, +"longitudinalPlan.speeds.9":253, +"longitudinalPlan.speeds.10":251, +"longitudinalPlan.speeds.11":247, +"longitudinalPlan.speeds.12":244, +"longitudinalPlan.speeds.13":243, +"longitudinalPlan.speeds.14":240, +"longitudinalPlan.speeds.15":237, +"longitudinalPlan.speeds.16":237, +"longitudinalPlan.speeds.0":248, +"longitudinalPlan.speeds.1":250, +"longitudinalPlan.jerks.8":127, +"longitudinalPlan.jerks.9":113, +"longitudinalPlan.jerks.10":69, +"longitudinalPlan.accels.8":62, +"longitudinalPlan.accels.9":33, +"longitudinalPlan.accels.15":5, +"longitudinalPlan.accels.16":13, +"longitudinalPlan.jerks.12":14, +"longitudinalPlan.jerks.13":15, +"longitudinalPlan.jerks.14":15, +"longitudinalPlan.jerks.15":14, +"longitudinalPlan.jerks.16":10, +"longitudinalPlan.accels.14":1, +"longitudinalPlan.jerks.11":2, +"longitudinalPlan.longitudinalPlanSource":18, +"longitudinalPlan.aTarget":15 +}, +"old_state_full_comparator_difference_count":0, +"old_state_against_current_difference_count":9876, +"behavior_proof":{ +"CP_openpilotLongitudinalControl":false, +"actual_current_update_calls":1200, +"actual_current_state_setter_calls":1200, +"actual_old_update_calls":1200, +"actual_old_state_setter_calls":1200, +"current_measured_vs_predicted_changed_calls":426, +"old_current_vs_predicted_changed_calls":426, +"ordinary_validity":true, +"comparator_negative_control":true +}, +"raw_evidence_sha256":{ +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-plannerd.zst":"ba0df7785de623f53a04ee2b8c1bc3a996dc5a772b8040013b9fd4320b47c26a", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-mpc-state-inputs.json":"74e2dd8038357b8a92f14ddd1c7c46a12c3ae82f69aa2e741e4e7a754275594d", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-differences.json":"c3f3125cb988905d216189793bc2d6ceab8dac3c55f1b444bd73f63450807db4", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regenAA0FC4ED71E_2025-04-08--22-57-50--0-captured.json":"cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-plannerd.zst":"822a66ec68de7bf71c9bde45c626a0a293ea1a2b4c937a335847694d7129b1fc", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-mpc-state-inputs.json":"74e2dd8038357b8a92f14ddd1c7c46a12c3ae82f69aa2e741e4e7a754275594d", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-differences.json":"37517e5f3dc66819f61f5a7bb8ace1921282415f10551d2defa5c3eb0985b570", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-captured.json":"cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regenAA0FC4ED71E_2025-04-08--22-57-50--0-against-current.json":"80b2ee44ccef54fe3089a150a416ca0b062b5c9c5524ebc5b2a9069278f49d40" +}, +"qualification_sha256":"13e06f54ce9c53bf91d815b933d27b85716d58aebf44ac31ae66d1f68f220ef9" +}, +"prior_reviewed_references":[ +{ +"segment":"regenAA0FC4ED71E|2025-04-08--22-57-50--0", +"process":"plannerd", +"file":"regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd.zst", +"bytes":233061, +"sha256":"b0fef64d4b5552854599211244f8eae0dce62399438d62711cf3b5241574a47e", +"input_sha256":"0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", +"input_bytes":11873030, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_plannerd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":231754, +"official_baseline_sha256":"14183eef58152a35f9767bfa50d05b1713d43f07634562f8714b1826285f995d", +"config_sha256":"2e09141ab13550128aa942951a7183b77f9e598fda920dd345f16a57b749b2f1", +"car_fingerprint":"HYUNDAI_SONATA", +"contract":"Intentional native cruise deceleration floor -0.5 from commit fb11095365199196e6f5aa3f037db5b48506164e. Thirteen changed aTarget samples reach that cruise floor; two remain below it under the unchanged minimum-candidate selection. The prior target seeds the next MPC state, explaining dependent acceleration and jerk trajectory changes. All other fields retain the original replay comparisons and tolerance.", +"producing_source_snapshot":"d23b405-native-cruise-floor", +"review_evidence":{ +"ci_run":38620302207, +"ci_job":116045781355, +"ci_artifact":11921128716, +"ci_artifact_sha256":"6943b01e08d09926189e3226111a4410950564eed1fd1fc9033668e1654e48bc", +"comparison_reference_sha256":"14183eef58152a35f9767bfa50d05b1713d43f07634562f8714b1826285f995d", +"difference_count":147, +"difference_fields":{ +"longitudinalPlan.aTarget":15, +"longitudinalPlan.accels.0":10, +"longitudinalPlan.accels.1":10, +"longitudinalPlan.accels.2":10, +"longitudinalPlan.accels.3":9, +"longitudinalPlan.accels.4":9, +"longitudinalPlan.accels.5":9, +"longitudinalPlan.accels.6":7, +"longitudinalPlan.jerks.0":9, +"longitudinalPlan.jerks.1":9, +"longitudinalPlan.jerks.2":6, +"longitudinalPlan.jerks.3":7, +"longitudinalPlan.jerks.4":7, +"longitudinalPlan.jerks.5":7, +"longitudinalPlan.jerks.6":8, +"longitudinalPlan.jerks.7":9, +"longitudinalPlan.jerks.8":6 +}, +"difference_sha256":"a72d9be140fe0faa8f64fd58280ff7f268d5f5f67e37426f67f5cfed0291198c", +"difference_encoding":"SHA256 of UTF-8 json.dumps(ordered comparison tuples, separators=(\",\", \":\")); JSON represents tuples as arrays.", +"full_diff_sha256":"6a8e4495f5aabd3616440dcf9ee5f42f56067d5a0fdfff3e98dfce93cf7966e6", +"prior_comparison_run":38617186370, +"matches_prior_ordered_differences":true, +"behavior_proof":{ +"changed_aTarget_samples":15, +"changed_aTarget_samples_equal_minus_0_5":13, +"remaining_changed_aTarget_values":[ +-0.6002245545387268, +-0.5540239214897156 +], +"changed_acceleration_samples":64, +"changed_jerk_samples":68, +"official_and_current_framed_message_count":2400, +"full_replay_comparison_pairs":66, +"unchanged_comparison_pairs":65, +"comparison_errors":0, +"full_test":true, +"recorded_input_count":16 +}, +"regression_tests":{ +"openpilot/starpilot/longitudinal/tests/test_profile_runtime.py":"8cb408d927f1c67a0357b42eddc97b67c481cb4298dd800b63244813841a9786" +}, +"review_method":"Verified immutable baseline and captured output hashes, evaluated configuration signature, every hosted comparison tuple, unchanged comparison implementation, and cruise-floor/MPC state flow. No independent local solver execution or native counterfactual replay was performed." +} +} +], +"intentional_contract_source_commit":"843dd22f40580abcaee109d62e3029677bcd2f3b" +}, +{ +"segment":"regen5FCAC896BBE|2025-04-08--23-13-35--0", +"process":"card", +"file":"regen5FCAC896BBE_2025-04-08--23-13-35--0_card.zst", +"bytes":260393, +"sha256":"8b0c71fa13e3308b51730e7d8e4a8487af2ea46a2c16e32def501d93284331e0", +"input_sha256":"2f2574c057b7cb55fbb2e05c99c5f1b1d6d894222422c4b51d4363ad66e6c840", +"input_bytes":11022997, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen5FCAC896BBE_2025-04-08--23-13-35--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":260417, +"official_baseline_sha256":"8fcdeb24f6dff05fb485faf8eb973032b68990b758629bad61bc1ee8cbeff157", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"RIVIAN_R1", +"contract":"BASE GEN1 requires two consecutive actual EPAS ToiActive acknowledgments before nonzero torque on the following update. Existing driver torque bounds and +3/-5 slew apply from withheld-zero history. Actual stock cancel sets VDM_UserAdasRequest=1, preserving the five-frame available/unavailable interface sequence. Exact route:107 steering payload changes,212 actuator scalar changes,2 cancel payload changes; only dependent CRC8-J1850 checksums also change. Every other compared field and CAN payload bit remains unchanged.", +"producing_source_snapshot":"b0bcc06d3eae5f9b5abcc88ac37db43eaee6edea", +"intentional_contract_source_commit":"69b71dcad82b67eb4cdc8349746b1c5cd1d78510", +"reviewed_recorded_scope":"RIVIAN_R1 BASE GEN1 flags0, Drive, stock longitudinal; separate15 parsed-CAN calls exercise fault/high-angle/Gen2/gear contracts." +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"plannerd", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_plannerd.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_plannerd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":252415, +"official_baseline_sha256":"c2db7321eb1864194518ff14cc2174a6309af08d55b7af13905bd4296b08da40", +"config_sha256":"2e09141ab13550128aa942951a7183b77f9e598fda920dd345f16a57b749b2f1", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":253526, +"sha256":"25cd5dca7fbf16366fe04264c9d28bfe33feafe1b72c271d090463f19652a35e", +"producing_source_snapshot":"83a90-stock-long-measured-mpc-state", +"intentional_contract_source_commit":"843dd22f40580abcaee109d62e3029677bcd2f3b", +"contract":"Intentional upstream stock-longitudinal MPC initial-state change: when openpilotLongitudinalControl is false, initialize MPC with measured carState.vEgo/aEgo rather than filtered velocity/prior selected target. Openpilot-longitudinal behavior stays predicted. Exact parent-state argument replay restores the selected prior reference with zero full-comparator differences; all comparison fields and tolerances remain unchanged.", +"review_evidence":{ +"method":"Actual fresh two-route paired current/old-MPC-state runs, one exclusive native lease; exact parent843dd22 call arguments only. Current outputs retained verbatim; no ignored-field/message or tolerance changes.", +"paired_run":"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b", +"comparison_reference_sha256":"c2db7321eb1864194518ff14cc2174a6309af08d55b7af13905bd4296b08da40", +"difference_count":12578, +"difference_fields":{ +"longitudinalPlan.accels.0":281, +"longitudinalPlan.accels.1":278, +"longitudinalPlan.accels.2":278, +"longitudinalPlan.jerks.0":284, +"longitudinalPlan.jerks.1":283, +"longitudinalPlan.jerks.2":285, +"longitudinalPlan.jerks.3":286, +"longitudinalPlan.jerks.4":285, +"longitudinalPlan.accels.3":274, +"longitudinalPlan.accels.4":276, +"longitudinalPlan.accels.5":279, +"longitudinalPlan.jerks.5":285, +"longitudinalPlan.jerks.6":286, +"longitudinalPlan.jerks.7":281, +"longitudinalPlan.accels.6":253, +"longitudinalPlan.jerks.13":141, +"longitudinalPlan.jerks.14":170, +"longitudinalPlan.accels.7":211, +"longitudinalPlan.accels.16":273, +"longitudinalPlan.jerks.8":272, +"longitudinalPlan.jerks.9":259, +"longitudinalPlan.jerks.12":259, +"longitudinalPlan.accels.14":275, +"longitudinalPlan.accels.15":273, +"longitudinalPlan.jerks.10":254, +"longitudinalPlan.jerks.11":263, +"longitudinalPlan.jerks.15":249, +"longitudinalPlan.accels.8":268, +"longitudinalPlan.accels.13":272, +"longitudinalPlan.accels.9":255, +"longitudinalPlan.accels.12":272, +"longitudinalPlan.jerks.16":250, +"longitudinalPlan.accels.11":271, +"longitudinalPlan.speeds.8":242, +"longitudinalPlan.speeds.9":239, +"longitudinalPlan.speeds.10":236, +"longitudinalPlan.speeds.7":241, +"longitudinalPlan.speeds.11":230, +"longitudinalPlan.speeds.6":240, +"longitudinalPlan.speeds.12":224, +"longitudinalPlan.speeds.5":239, +"longitudinalPlan.speeds.13":218, +"longitudinalPlan.speeds.4":239, +"longitudinalPlan.speeds.14":198, +"longitudinalPlan.speeds.2":235, +"longitudinalPlan.speeds.3":235, +"longitudinalPlan.speeds.15":141, +"longitudinalPlan.speeds.16":29, +"longitudinalPlan.speeds.1":231, +"longitudinalPlan.speeds.0":230, +"longitudinalPlan.accels.10":250 +}, +"old_state_full_comparator_difference_count":0, +"old_state_against_current_difference_count":12578, +"behavior_proof":{ +"CP_openpilotLongitudinalControl":false, +"actual_current_update_calls":1200, +"actual_current_state_setter_calls":1200, +"actual_old_update_calls":1200, +"actual_old_state_setter_calls":1200, +"current_measured_vs_predicted_changed_calls":407, +"old_current_vs_predicted_changed_calls":407, +"ordinary_validity":true, +"comparator_negative_control":true +}, +"raw_evidence_sha256":{ +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-plannerd.zst":"25cd5dca7fbf16366fe04264c9d28bfe33feafe1b72c271d090463f19652a35e", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-mpc-state-inputs.json":"c647579ae367b75624b55fb2fe27121983063c003af88891a7119ea6dd7d32e1", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-differences.json":"0adf779b12836b6e36b9fb3cad9bfb10798174508311b8b5b355c1f2abc447fe", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-captured.json":"cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-plannerd.zst":"a293af5d8f5deed56a282a2387f9b43ad2fe51f8ebb72abaabb31ce2679de642", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-mpc-state-inputs.json":"c647579ae367b75624b55fb2fe27121983063c003af88891a7119ea6dd7d32e1", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-differences.json":"37517e5f3dc66819f61f5a7bb8ace1921282415f10551d2defa5c3eb0985b570", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-captured.json":"cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", +"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-against-current.json":"e49febb336f503761a08ac4be6aeb7b260b98793a2fe0c4b2e604c3326853100" +}, +"qualification_sha256":"13e06f54ce9c53bf91d815b933d27b85716d58aebf44ac31ae66d1f68f220ef9" +} +}, +{ +"segment":"regen7366F13F6A1|2025-04-08--23-07-07--0", +"process":"card", +"file":"regen7366F13F6A1_2025-04-08--23-07-07--0_card.zst", +"bytes":243224, +"sha256":"ac34decedc3aa9ae6f15991ceb1ebadbcbb5616e09599a45b225aa645b860408", +"input_sha256":"f501c1c99bae27ca710f40f723a1960ea4e898836d7edfb57ea6397591e5aff2", +"input_bytes":9393878, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen7366F13F6A1_2025-04-08--23-07-07--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":243288, +"official_baseline_sha256":"0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"SUBARU_OUTBACK", +"contract":"Card marks the qualified immutable Subaru smoothing startup binding with host-only SMOOTHING_BOUND(bit8192). This2020-22 torque Outback retains default0s smoothing. Only two CarParams.flags fields change141->8333; native safety word1, longitudinal authority, all CAN and all other compared fields are unchanged. Clearing exactly this marker from the completed CI output restores zero full-comparator differences.", +"producing_source_snapshot":"989-subaru-frozen-smoothing-card", +"intentional_contract_source_commit":"c6a366b013f5e0ea84562a836d7065f1917922e3", +"review_evidence":{ +"ci_run":39899971746, +"ci_outputs_artifact_id":12478711382, +"ci_outputs_archive_sha256":"df7a40fcea55b3ee561725b257033b50da4f02b1c2cee67d65e47104631d5a62", +"ci_source_revision":"989beaae3ce60999ad8b7e07be4e6e3fdfaa6938", +"comparison_reference_sha256":"0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", +"comparison_reference_bytes":243288, +"output_message_count":19127, +"car_params_count":2, +"difference_count":2, +"difference_fields":{ +"carParams.flags":2 +}, +"flags_before":141, +"flags_after":8333, +"marker":8192, +"marker_name":"SubaruFlags.SMOOTHING_BOUND", +"exact_marker_ablation_difference_count":0, +"comparator_ignore_fields":[ +"logMonoTime", +"carState.cumLagMs" +], +"comparator_tolerance":0.01, +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"native_safety_param":1, +"openpilot_longitudinal_control":false, +"default_maximum_seconds":0.0, +"qualification_source_commit":"c6a366b013f5e0ea84562a836d7065f1917922e3", +"qualification_artifact_commit":"9ce28936463f686ac73e13c76d86f9cec820f9da", +"actual_immutable_config_signature_verified":true, +"reviewed_reference_selector_verified":true, +"completed_output_matches_selected_reference":true +} +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"selfdrived", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":29357, +"official_baseline_sha256":"5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", +"config_sha256":"6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":29575, +"sha256":"e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", +"contract":"Before the first native authority grant, missing aolSafetyWire is startup commIssue rather than lost-controls mismatch. On this recording 141 event messages change with 1048 full-comparator differences; all 6020 selfdriveState messages remain disabled/inactive. Independent actual Panda safety-profile mismatch remains controlsMismatch. Already-seen missing, invalid, active/enabled loss and RX/relay faults must retain denial paths.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"intentional_change_commit":"5e92608ab70bf21b0ddd05874a12bccaa0fbdef5", +"hosted_evidence_run":41788199375, +"previous_reviewed_expectation":{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"selfdrived", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":29357, +"official_baseline_sha256":"5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", +"config_sha256":"6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":29572, +"sha256":"6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", +"contract":"Current stock Prius factory safety profile0x6242 does not match the historical Panda report0x242. Preserve controlsMismatch and refuse engagement; no Panda configuration, health, permission or recorded input is rewritten. Current-profile native-positive steering is separately qualified by test_stock_aol parser/native/Controls/Card callers.", +"producing_source_snapshot":"5fc5709e4d54f31dd575e66333271dbb260d5e9b", +"intentional_change_commit":"c6f00f7a4d1f60734897c12f160715a6a49775f2", +"hosted_evidence_run":40521627641 +}, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", +"comparison_reference_sha256":"6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", +"difference_count":1048, +"difference_fields":{ +"onroadEvents.2.name":18, +"onroadEvents.2.noEntry":18, +"onroadEvents.2.userDisable":17, +"onroadEvents.2.immediateDisable":16, +"onroadEvents.3.name":74, +"onroadEvents.3.noEntry":74, +"onroadEvents.3.userDisable":74, +"onroadEvents.3.softDisable":16, +"onroadEvents.3.immediateDisable":58, +"onroadEvents.4.name":107, +"onroadEvents.4.noEntry":107, +"onroadEvents.4.userDisable":107, +"onroadEvents.4.softDisable":58, +"onroadEvents.4.immediateDisable":49, +"onroadEvents.5.name":49, +"onroadEvents.5.noEntry":49, +"onroadEvents.5.userDisable":49, +"onroadEvents.5.softDisable":49, +"onroadEvents.1.name":18, +"onroadEvents.1.noEntry":2, +"onroadEvents.1.userDisable":1, +"onroadEvents.1.immediateDisable":18, +"onroadEvents.2.softDisable":2, +"onroadEvents.1.enable":1, +"onroadEvents.2.enable":1, +"onroadEvents.1.softDisable":16 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0, +"qualification_sha256":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"raw_evidence_sha256":{ +"noncalibration-REPORT.md":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"noncalibration-EVIDENCE_SHA256.txt":"179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", +"noncalibration-source-manifest.json":"8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", +"noncalibration-full-pair-exact-equality.json":"540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", +"noncalibration-startup-summary.json":"66103ab6bec939c06810512cbe6b0d01de7a6340812dda2b3f6447f7d32e56a0", +"noncalibration-selfdrived-current-summary.json":"ec166632daeeb03dbd010b174372989960c4a8a5c0d4c6ef63638fac11b619f1", +"noncalibration-selfdrived-before-summary.json":"6fdedb04dadbdb5dfc567e75ed8fedc7cd21b799dd20daea49a1539e0b855512", +"noncalibration-startup-tests.txt":"c82de8f8b5f1a0eac8fbb3d4111b3b657b83de042a98950489a6854b6b66c0ae", +"noncalibration-prius-startup-tests.txt":"de265a61e5804eca0ae7292c2268246acd4c736a1b98fdde58cab1cf416d7bff", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"reviewed_recorded_scope":"No native wire in raw input. Startup-only classification does not grant permission; all replayed state remains disabled/inactive. Independent Panda 0x242 versus current 0x6242 mismatch remains on all 5019 ticks after allowance. Fault/withdrawal boundaries retain controlsMismatch and zero torque." +} +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"controlsd", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":207067, +"official_baseline_sha256":"3e7107219ccfaebd4315873130d1d5fd49e1c5820e62a6bdbba8811336b0c366", +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":164225, +"sha256":"6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", +"contract":"PriusTorquePolicy selects version-2 logging even while inactive. Only torqueState.version changes 1 to 2 in 6020 controlsState messages; all 6020 carControl messages remain latActive false and torque zero. This recording does not qualify active Prius shaping.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"intentional_change_commit":"8f59bfc56c36a2cc3999e9ae5e07220f3020d932", +"hosted_evidence_run":41788199375, +"previous_reviewed_expectation":{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"controlsd", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":207067, +"official_baseline_sha256":"3e7107219ccfaebd4315873130d1d5fd49e1c5820e62a6bdbba8811336b0c366", +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":164230, +"sha256":"958ce87657ae33e26d704c559961d570cc5e1e2a32df35e5c4ff30d62179e8df", +"contract":"Historical selfdriveState is not a native grant for the current stock Prius profile0x6242. Steering remains inactive without current native authority; only lateral command and dependent torque-state fields differ. Current-profile native-positive steering remains independently covered.", +"producing_source_snapshot":"5fc5709e4d54f31dd575e66333271dbb260d5e9b", +"intentional_change_commit":"c6f00f7a4d1f60734897c12f160715a6a49775f2", +"hosted_evidence_run":40521627641 +}, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", +"comparison_reference_sha256":"958ce87657ae33e26d704c559961d570cc5e1e2a32df35e5c4ff30d62179e8df", +"difference_count":6020, +"difference_fields":{ +"controlsState.lateralControlState.torqueState.version":6020 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0, +"qualification_sha256":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"raw_evidence_sha256":{ +"noncalibration-REPORT.md":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"noncalibration-EVIDENCE_SHA256.txt":"179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", +"noncalibration-source-manifest.json":"8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", +"noncalibration-full-pair-exact-equality.json":"540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", +"noncalibration-prius-summary.json":"4cbbbc97736d44a866377a0ca08dbb6b03851e6a3b7dec45253da5945a3669bc", +"noncalibration-focused-tests.txt":"0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"reviewed_recorded_scope":"All 6020 replayed commands remain lateral-inactive and zero torque, while raw input includes 1456 active commands. The replay proves inactive version-2 logging, not active shaping performance or optimal physical parameters." +} +}, +{ +"segment":"regenAA0FC4ED71E|2025-04-08--22-57-50--0", +"process":"calibrationd", +"file":"regenAA0FC4ED71E_2025-04-08--22-57-50--0_calibrationd.zst", +"input_sha256":"0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", +"input_bytes":11873030, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_calibrationd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":1710, +"official_baseline_sha256":"2f2d5baaad29bba7d1feec6d79ee1344f319b09ec7df8774d7244b4ed56c1953", +"config_sha256":"55e5e187ec916afff8ae0fb957150a13e7144533b6ed671e2f0d06c50fec98ef", +"car_fingerprint":"HYUNDAI_SONATA", +"bytes":1730, +"sha256":"1782419da69323bbac88be8e4842e6a0b4ceb063aaa01370e0dee94be8dd2ccb", +"contract":"First complete 100-eligible-sample block seeds the warp but does not count as a valid block, avoiding false remount from initial uncalibrated warp bias. Fresh calibration requires five subsequent valid blocks; progress measures six blocks. Exact old source reproduces official bytes and exact seed/current source reproduces qualified captured bytes for this recording. Boundary tests reproduce old false remount, avoid it in current, retain genuine remount detection/recovery, and protect fresh/saved state, progress, persistence and rejection rules. Added calibration wall time is 15.744237182 seconds Sonata and 4.999451143 seconds Prius; not a full closed-loop or fleet qualification.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"intentional_change_commit":"939b4889b2974e1314d6813f08ef9dbc988c3cee", +"hosted_evidence_run":41788199375, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"1782419da69323bbac88be8e4842e6a0b4ceb063aaa01370e0dee94be8dd2ccb", +"comparison_reference_sha256":"2f2d5baaad29bba7d1feec6d79ee1344f319b09ec7df8774d7244b4ed56c1953", +"difference_count":2593, +"difference_fields":{ +"extrinsicsCalibration.calPerc":234, +"extrinsicsCalibration.validBlocks":216, +"extrinsicsCalibration.wideFromDeviceEuler.0":220, +"extrinsicsCalibration.wideFromDeviceEuler.1":220, +"extrinsicsCalibration.wideFromDeviceEuler.2":220, +"extrinsicsCalibration.height.0":220, +"extrinsicsCalibration.rpyCalib.0":200, +"extrinsicsCalibration.rpyCalib.1":200, +"extrinsicsCalibration.rpyCalib.2":200, +"extrinsicsCalibration.rpyCalibSpread.0":200, +"extrinsicsCalibration.rpyCalibSpread.1":200, +"extrinsicsCalibration.rpyCalibSpread.2":200, +"extrinsicsCalibration.calStatus":63 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"1782419da69323bbac88be8e4842e6a0b4ceb063aaa01370e0dee94be8dd2ccb", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"qualification_sha256":"5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", +"raw_evidence_sha256":{ +"calibration-REPORT.md":"5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", +"calibration-summary.json":"ddbd7d32def624386127a9cc819f889b82b403b5f4461f477f9ecd97faf19ea3", +"calibration-semantic-results.json":"5e5978f1928354fea0ef6882f08faf1b3413bfb1cf4aa68fe7c2aacbb456aa6c", +"calibration-upstream-crosscheck.json":"cace94361a783164872cf365149587a53d159fdbc8d9292bbf3aac8438f1cc00", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Six paired native process replays plus first-block, original-defect, real-remount, persistence/restart and rejection boundaries. Logging-only AF_UNIX emission was suppressed equally across all qualification variants. Upstream merge had no formal review API entries; not evidence of formal human approval. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0 +} +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"calibrationd", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_calibrationd.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_calibrationd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":1876, +"official_baseline_sha256":"81e78210144b9ec12ac2405bc0acfa771a2b1dc2030bf8f10581ba9b4e7aae00", +"config_sha256":"55e5e187ec916afff8ae0fb957150a13e7144533b6ed671e2f0d06c50fec98ef", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":1863, +"sha256":"8c41fe47e170744a96a339e7b9ef0fc0e19c3763ddd21a266757bca78f73fb4c", +"contract":"First complete 100-eligible-sample block seeds the warp but does not count as a valid block, avoiding false remount from initial uncalibrated warp bias. Fresh calibration requires five subsequent valid blocks; progress measures six blocks. Exact old source reproduces official bytes and exact seed/current source reproduces qualified captured bytes for this recording. Boundary tests reproduce old false remount, avoid it in current, retain genuine remount detection/recovery, and protect fresh/saved state, progress, persistence and rejection rules. Added calibration wall time is 15.744237182 seconds Sonata and 4.999451143 seconds Prius; not a full closed-loop or fleet qualification.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"intentional_change_commit":"939b4889b2974e1314d6813f08ef9dbc988c3cee", +"hosted_evidence_run":41788199375, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"8c41fe47e170744a96a339e7b9ef0fc0e19c3763ddd21a266757bca78f73fb4c", +"comparison_reference_sha256":"81e78210144b9ec12ac2405bc0acfa771a2b1dc2030bf8f10581ba9b4e7aae00", +"difference_count":2460, +"difference_fields":{ +"extrinsicsCalibration.calPerc":140, +"extrinsicsCalibration.validBlocks":220, +"extrinsicsCalibration.wideFromDeviceEuler.0":220, +"extrinsicsCalibration.wideFromDeviceEuler.1":220, +"extrinsicsCalibration.wideFromDeviceEuler.2":220, +"extrinsicsCalibration.height.0":220, +"extrinsicsCalibration.rpyCalib.0":200, +"extrinsicsCalibration.rpyCalib.1":200, +"extrinsicsCalibration.rpyCalib.2":200, +"extrinsicsCalibration.rpyCalibSpread.0":200, +"extrinsicsCalibration.rpyCalibSpread.1":200, +"extrinsicsCalibration.rpyCalibSpread.2":200, +"extrinsicsCalibration.calStatus":20 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"8c41fe47e170744a96a339e7b9ef0fc0e19c3763ddd21a266757bca78f73fb4c", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"qualification_sha256":"5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", +"raw_evidence_sha256":{ +"calibration-REPORT.md":"5bfd1548d8f109f102429bf898b6442c7c648ad150cc2f4b36ced4259824c4ad", +"calibration-summary.json":"ddbd7d32def624386127a9cc819f889b82b403b5f4461f477f9ecd97faf19ea3", +"calibration-semantic-results.json":"5e5978f1928354fea0ef6882f08faf1b3413bfb1cf4aa68fe7c2aacbb456aa6c", +"calibration-upstream-crosscheck.json":"cace94361a783164872cf365149587a53d159fdbc8d9292bbf3aac8438f1cc00", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Six paired native process replays plus first-block, original-defect, real-remount, persistence/restart and rejection boundaries. Logging-only AF_UNIX emission was suppressed equally across all qualification variants. Upstream merge had no formal review API entries; not evidence of formal human approval. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0 +} +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"lagd", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_lagd.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_lagd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":1207, +"official_baseline_sha256":"d2250767c9d6cedc42f3fb4c46df44da47801150cb2a7550b1b4dfc3763334b3", +"config_sha256":"e1e41b168c825294a3093020ba2c8f7e2041816ab35ca6eb05039031d686eaf5", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":1207, +"sha256":"b7f4c1eb0a4a38cf8296f78c2d88fa1c974955fcfb76119a59aa37a4eb8b2c6a", +"contract":"The stock Prius 0.14-second factory actuator delay initializes lagd at CP.steerActuatorDelay + 0.2 = 0.34 seconds. Only lateralDelay and lateralDelayEstimate change 0.45 to 0.34 in all 240 output messages, following the independently qualified factory contract.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"intentional_change_commit":"8f59bfc56c36a2cc3999e9ae5e07220f3020d932", +"hosted_evidence_run":41788199375, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"b7f4c1eb0a4a38cf8296f78c2d88fa1c974955fcfb76119a59aa37a4eb8b2c6a", +"comparison_reference_sha256":"d2250767c9d6cedc42f3fb4c46df44da47801150cb2a7550b1b4dfc3763334b3", +"difference_count":480, +"difference_fields":{ +"lateralDelay.lateralDelay":240, +"lateralDelay.lateralDelayEstimate":240 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"b7f4c1eb0a4a38cf8296f78c2d88fa1c974955fcfb76119a59aa37a4eb8b2c6a", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0, +"qualification_sha256":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"raw_evidence_sha256":{ +"noncalibration-REPORT.md":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"noncalibration-EVIDENCE_SHA256.txt":"179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", +"noncalibration-source-manifest.json":"8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", +"noncalibration-full-pair-exact-equality.json":"540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", +"noncalibration-prius-summary.json":"4cbbbc97736d44a866377a0ca08dbb6b03851e6a3b7dec45253da5945a3669bc", +"noncalibration-focused-tests.txt":"0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"reviewed_recorded_scope":"Raw input has 1456 active carControl records; real lag consumer has at most 248 valid window samples, below 500 required, so it retains initialized 0.34 delay. Replay controlsd inactivity is not the explanation for raw-input lag behavior. No active tuning accuracy claim." +} +}, +{ +"segment":"regenAA0FC4ED71E|2025-04-08--22-57-50--0", +"process":"controlsd", +"file":"regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd.zst", +"bytes":213689, +"sha256":"edaf69415eaa9549fe9e3ec01639a170fb893dfd2091cc163a3e7017125c5124", +"input_sha256":"0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", +"input_bytes":11873030, +"config_sha256":"132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", +"car_fingerprint":"HYUNDAI_SONATA", +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":213431, +"official_baseline_sha256":"08a565369992ad46f8aee3e3beda49603587095523a89d41fc16ea9b428cfb1d", +"contract":"Use the vehicle-specific StarPilot torque policy by default, as required by 13839683908c449dfbb055cb4950e339ed2b1a1f. Saved controller choices, tuning parameters, and actuator safety limits are unchanged. Controller log version becomes 2; complete commands and controller states are compared.", +"producing_source_snapshot":"hkg-specific-controller-defaults-1383968390", +"intentional_change_commit":"13839683908c449dfbb055cb4950e339ed2b1a1f", +"hosted_evidence_run":42336724815, +"review_evidence":{ +"method":"Two native process replays with only the previous default-selection function reproduce both prior references exactly. After exact source restoration, two fresh current-default replays reproduce the published e1e3be94fe outputs with zero full-comparator differences. Original ignores and tolerances are unchanged.", +"paired_review_sha256":"c308311b7f7be0bb216bbacd5d07891e5ffe5571ade5aac8048095f793b92d70", +"compared_messages_per_replay":12002, +"previous_default_version":1, +"current_default_version":2, +"source_restored":true +} +} +], +"source_snapshots":{ +"7395-production":{ +"revision":"7395a0da33267fb1ad4d0cdfd34de2aed915fd98", +"sha256":{ +"openpilot/selfdrive/controls/controlsd.py":"77ff305cdacba320e146d5b0165bfbd3ce6409f95e19b430002615af818f6068", +"openpilot/selfdrive/controls/lib/latcontrol_torque.py":"137d1e042fa380bdbda767c8ec8641caaa85ac527f890b51870b74a2ba7e2af6", +"openpilot/starpilot/lateral/corolla_tss2_policy.py":"4729bb491fa0aa72218457e4f120b6c87c6e733daf57e049ba3985366e64d3df", +"openpilot/starpilot/lateral/lane_change_smoothing.py":"8647403d8b597bcd0e9ca84e9c4d5bdd08fd538ca00ec36b51a35f066fd6ec04", +"openpilot/starpilot/lateral/lane_change_preferences.py":"14d17bc871dbc51f25d3fbc108d6db7070abe052b781385fd83923fdd3f531cd", +"opendbc_repo/opendbc/car/chrysler/carcontroller.py":"5cd225d4a438e3017a7717f5833d4b5eab332ae985b5705040915a2afb1b6888", +"opendbc_repo/opendbc/car/chrysler/interface.py":"d4e6b9bbe588ea6e9a4b1523ce8f93d261346261d6bf12a73b912b20ad4e41dc", +"opendbc_repo/opendbc/car/chrysler/chryslercan.py":"2c05ab6eb181aff4ebbad46d3c3162f3d3f068ac449727e6f9269f685a7b49a9", +"opendbc_repo/opendbc/car/ford/interface.py":"34e160022a97052e2f38968401a170a341ed3a1b5e9e71a26fbc843af2410ae1", +"opendbc_repo/opendbc/car/ford/carcontroller.py":"17e862311f90b3523fe635d1e2a70c44e01a6c824d62cc354e21d81c8ec91235", +"opendbc_repo/opendbc/car/ford/fordcan.py":"0e614b522bb9de2cbeaad30ce0f4d077cb914ac76f3aa02c60f277e5903e54c9", +"opendbc_repo/opendbc/car/hyundai/interface.py":"71a8c880c0499cacc0f061a0b34ad96763e2b6af48d49f352406df7a359bc59b", +"opendbc_repo/opendbc/car/hyundai/values.py":"142b1f59390688b92a20836b6d17f1d8959457be3dd0d871b61fe4b6bf858acc", +"opendbc_repo/opendbc/car/mazda/interface.py":"99a9388a40e27075127d4548ebc81d728f7835a543d6a980256a6b9f41c7c486", +"opendbc_repo/opendbc/car/gm/interface.py":"0bdedcf1f002bd3f9f2531aa370e0618182fbd48849b0aeda20045f277f1fb6a", +"opendbc_repo/opendbc/car/gm/values.py":"2e078151492e47cf0f600bf5125dad689bc4951df0c12369771f8f236244cb70", +"openpilot/starpilot/car/ford/aol.py":"c4ecbcbe5b35db45bab003e98d44732df4f154eb241cd65e1767977f1a29dc2d", +"openpilot/selfdrive/test/process_replay/process_replay.py":"a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" +} +}, +"7395-with-ford-engagement-fix":{ +"revision":"7395a0da33267fb1ad4d0cdfd34de2aed915fd98", +"sha256":{ +"openpilot/selfdrive/controls/controlsd.py":"77ff305cdacba320e146d5b0165bfbd3ce6409f95e19b430002615af818f6068", +"openpilot/selfdrive/controls/lib/latcontrol_torque.py":"137d1e042fa380bdbda767c8ec8641caaa85ac527f890b51870b74a2ba7e2af6", +"openpilot/starpilot/lateral/corolla_tss2_policy.py":"4729bb491fa0aa72218457e4f120b6c87c6e733daf57e049ba3985366e64d3df", +"openpilot/starpilot/lateral/lane_change_smoothing.py":"8647403d8b597bcd0e9ca84e9c4d5bdd08fd538ca00ec36b51a35f066fd6ec04", +"openpilot/starpilot/lateral/lane_change_preferences.py":"14d17bc871dbc51f25d3fbc108d6db7070abe052b781385fd83923fdd3f531cd", +"opendbc_repo/opendbc/car/chrysler/carcontroller.py":"5cd225d4a438e3017a7717f5833d4b5eab332ae985b5705040915a2afb1b6888", +"opendbc_repo/opendbc/car/chrysler/interface.py":"d4e6b9bbe588ea6e9a4b1523ce8f93d261346261d6bf12a73b912b20ad4e41dc", +"opendbc_repo/opendbc/car/chrysler/chryslercan.py":"2c05ab6eb181aff4ebbad46d3c3162f3d3f068ac449727e6f9269f685a7b49a9", +"opendbc_repo/opendbc/car/ford/interface.py":"34e160022a97052e2f38968401a170a341ed3a1b5e9e71a26fbc843af2410ae1", +"opendbc_repo/opendbc/car/ford/carcontroller.py":"17e862311f90b3523fe635d1e2a70c44e01a6c824d62cc354e21d81c8ec91235", +"opendbc_repo/opendbc/car/ford/fordcan.py":"0e614b522bb9de2cbeaad30ce0f4d077cb914ac76f3aa02c60f277e5903e54c9", +"opendbc_repo/opendbc/car/hyundai/interface.py":"71a8c880c0499cacc0f061a0b34ad96763e2b6af48d49f352406df7a359bc59b", +"opendbc_repo/opendbc/car/hyundai/values.py":"142b1f59390688b92a20836b6d17f1d8959457be3dd0d871b61fe4b6bf858acc", +"opendbc_repo/opendbc/car/mazda/interface.py":"99a9388a40e27075127d4548ebc81d728f7835a543d6a980256a6b9f41c7c486", +"opendbc_repo/opendbc/car/gm/interface.py":"0bdedcf1f002bd3f9f2531aa370e0618182fbd48849b0aeda20045f277f1fb6a", +"opendbc_repo/opendbc/car/gm/values.py":"2e078151492e47cf0f600bf5125dad689bc4951df0c12369771f8f236244cb70", +"openpilot/starpilot/car/ford/aol.py":"6f00b6a8707ddfee770bbfeb13e2d60941995c999a37fbe912234751beace19c", +"openpilot/selfdrive/test/process_replay/process_replay.py":"a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" +} +}, +"3dfea-production":{ +"revision":"3dfea0191a96a23f6351efc81100b8f99cff0256", +"sha256":{ +"opendbc_repo/opendbc/car/chrysler/carcontroller.py":"5cd225d4a438e3017a7717f5833d4b5eab332ae985b5705040915a2afb1b6888", +"opendbc_repo/opendbc/car/chrysler/chryslercan.py":"2c05ab6eb181aff4ebbad46d3c3162f3d3f068ac449727e6f9269f685a7b49a9", +"opendbc_repo/opendbc/car/chrysler/interface.py":"d4e6b9bbe588ea6e9a4b1523ce8f93d261346261d6bf12a73b912b20ad4e41dc", +"opendbc_repo/opendbc/car/ford/carcontroller.py":"17e862311f90b3523fe635d1e2a70c44e01a6c824d62cc354e21d81c8ec91235", +"opendbc_repo/opendbc/car/ford/fordcan.py":"0e614b522bb9de2cbeaad30ce0f4d077cb914ac76f3aa02c60f277e5903e54c9", +"opendbc_repo/opendbc/car/ford/interface.py":"34e160022a97052e2f38968401a170a341ed3a1b5e9e71a26fbc843af2410ae1", +"opendbc_repo/opendbc/car/gm/interface.py":"81085b2be288dabe4fd581eb34b3a99b4d3d87c834048ef1495733edc58c6a64", +"opendbc_repo/opendbc/car/gm/values.py":"967c4cd4271e61295143455bdc6bfc346bee30b8456441e6b0612b83644e6c1e", +"opendbc_repo/opendbc/car/hyundai/interface.py":"6bc2d4b8342e86ed44cf2c4ae86fae8eb754d10975311071a0553c3b2825d418", +"opendbc_repo/opendbc/car/hyundai/values.py":"83c262fe6baeac3172a0388f9b3614645f8935d2cfb5c8e216f02c42db775137", +"opendbc_repo/opendbc/car/mazda/interface.py":"99a9388a40e27075127d4548ebc81d728f7835a543d6a980256a6b9f41c7c486", +"opendbc_repo/opendbc/safety/modes/toyota.h":"9ef6b1deaa508cd0856fa2d4fb9d866a5a30e79f2bd0eb2e985d9d0e257a8f5a", +"openpilot/selfdrive/car/card.py":"bcba9f47f340bc0459005d658fcd280af5dffb282b9c5159bb4e23d43a7853a4", +"openpilot/selfdrive/controls/controlsd.py":"d40f9f27b2e24f9cff07590e9fb3eecc82a4042046759a62467020a81cec479d", +"openpilot/selfdrive/controls/lib/latcontrol_torque.py":"97a876b8eb99cd445d2ec9804e10aa4967c0348d01d8997afaa84cbdd06ca45f", +"openpilot/selfdrive/test/process_replay/process_replay.py":"a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09", +"openpilot/starpilot/aol/runtime.py":"8538314a48fd680f03e82cafb81cf789f6c1ce45f8dd0278fb9b7f0f002f6e6d", +"openpilot/starpilot/aol/vehicle.py":"1e1b693fbc1d405c3a6ddee82e442f7bb03a9255f62fafba849d17fdb1b5687c", +"openpilot/starpilot/aol/wire.py":"f3f0955844a02cf2ac6f0062ae0b51f117b2214a238563bb48e3d94a7294c7bf", +"openpilot/starpilot/car/ford/aol.py":"6f00b6a8707ddfee770bbfeb13e2d60941995c999a37fbe912234751beace19c", +"openpilot/starpilot/car/toyota/aol.py":"bcb7c6f1ee6b8d425ce9c339f931597bf2ae40e0658552a1efb0aafd044e65f3", +"openpilot/starpilot/lateral/corolla_tss2_policy.py":"7fb1784504d38a7dc85fa047a4fc97bdd17f8f924e0cf62ef27fbd87796342af", +"openpilot/starpilot/lateral/lane_change_preferences.py":"14d17bc871dbc51f25d3fbc108d6db7070abe052b781385fd83923fdd3f531cd", +"openpilot/starpilot/lateral/lane_change_smoothing.py":"8647403d8b597bcd0e9ca84e9c4d5bdd08fd538ca00ec36b51a35f066fd6ec04", +"openpilot/starpilot/lateral/torque_turn_assist.py":"6eae4db9585eeab602e496e07406d733a80c1906173b90b9588dfd9cdba29276", +"openpilot/starpilot/vehicle_preferences.py":"a502aff216fe3888f2dbca8662949646c60f1c40e584ceee5baa9628bca79d59", +"tools/ci/replay_fixture_cache.py":"f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832" +}, +"verification":"Every listed runtime source equals this committed revision; no production override during bounded replay." +}, +"root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay":{ +"revision":"4ca263696691268a5ed229a6e65f743e435b9d5d", +"stage_sha256":"ec59971db14d54d299146f5664a9ea542cbead0b4dd23c922b498fa92904a476", +"flags_sha256":"d10c6fe89cae13d515548a3248f3caebcad94a780fa3a27bd9d9e24bda36ac51", +"source_map_sha256":"1ff252c707f164d77d1ee8a9ba1e435da0e05ffd9ea365524bb90ae9424e58b7", +"sha256":{ +"opendbc_repo/opendbc/car/toyota/carcontroller.py":"a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7", +"opendbc_repo/opendbc/car/toyota/toyotacan.py":"64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc", +"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py":"e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a", +"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc":"818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48", +"tools/ci/replay_fixture_cache.py":"f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", +"tools/ci/replay-fixture-cache.json":"99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", +"openpilot/selfdrive/test/process_replay/test_processes.py":"559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"openpilot/selfdrive/test/process_replay/process_replay.py":"a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09" +}, +"actual_outer_before":{ +"path":"/audit/oct12-toyota-replay-root-output-v1/before.json", +"sha256":"8ed6201127f1fac89a4ced83d16a9af3ef31816bcac41a06333fda713f3d106b", +"mode":420, +"kind":"file" +}, +"actual_outer_runtime":{ +"path":"/audit/oct12-toyota-replay-root-output-v1/runtime.json", +"sha256":"10dd35d1b626788cce130910b7b013c0d544e08f0426358011bce141f8788ec1", +"mode":420, +"kind":"file" +}, +"scope":"Actual current checkout plus explicitly root-approved staged source epoch; selected replay dependencies pinned; full source/import/artifact association in outer descriptors" +}, +"d23b405-native-cruise-floor":{ +"revision":"d23b4059862910f37a05b99179edb079af3e7640", +"sha256":{ +"openpilot/selfdrive/controls/plannerd.py":"5b00fbe40537a678982ea90947def8631ba88d65c1975aabb0c452f0a8ed89d8", +"openpilot/selfdrive/controls/lib/longitudinal_planner.py":"0c8ce4622140c1f775bb829777dfd0aa47d4e8997c8f254a0859fb14e466542e", +"openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py":"dbd13f1abb852b6e6a69bc2a5789899a58125271b814128fff983ba239687844", +"openpilot/selfdrive/test/process_replay/test_processes.py":"559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1", +"openpilot/selfdrive/test/process_replay/process_replay.py":"9b6c6f16b5672a99923778bfdf3c388d629bac97ee0c9ae2fcfe426cb5e2365a", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", +"tools/ci/replay_fixture_cache.py":"f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", +"tools/ci/replay-fixture-cache.json":"99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15" +}, +"verification":"Hosted CI built and replayed this committed revision using the unchanged production-default replay command. Source digests were independently checked against its immutable Git blobs; no local native replay was run." +}, +"83a90-stock-long-measured-mpc-state":{ +"revision":"83a90e89b4ff7e656c0964f90832b6bce6bb1407", +"sha256":{ +"tools/ci/replay_fixture_cache.py":"f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", +"openpilot/selfdrive/test/process_replay/process_replay.py":"383b877fe764441d9efa0ae651f919da3532151047bedc99a2826a35bc9669b5", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"openpilot/selfdrive/controls/plannerd.py":"04d4a837afe3b9b88b24ad2ea261f5a2bfe2be73d3113f680435ce210c37742c", +"openpilot/selfdrive/controls/lib/longitudinal_planner.py":"29db2fb671022ad04075fea9cd4a8c4a2edf619f74ec04afcc27aced59deeaed", +"openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py":"f4871d6da3d9611356fb89915487ac9311677f692a7df91021649072092f7237", +"openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json":"0f118242411e3ec75fc8ff522cdb93f84af1f1d125867f1f5f5ca39a9b859e6e" +}, +"native_origins":{ +"openpilot.common.params":{ +"origin":"/work/openpilot/common/params.py", +"sha256":"e8bfb2f2ee4ed002f50bb6beabd531aa5cb7a22caeaa0a0a09750f252a475654" +}, +"msgq.visionipc.visionipc_pyx":{ +"origin":"/work/msgq_repo/msgq/visionipc/visionipc_pyx.so", +"sha256":"5ace11b3a081bbb5636aaf3792a6ee89c33f6bce0c0a57a0ca3e533f065793c6" +}, +"Params ctypes native":{ +"origin":"/work/openpilot/common/libparams_c.so", +"sha256":"e0d893463620aaf52d4302be7a69dbe0b4f307b886864865112a81cc5acd5ab4" +} +}, +"verification":"Actual paired current and exact843dd22 parent-state argument replay in one exclusive lease. All recorded source/native/HEAD/index/foreign custody checks passed; comparison fields and tolerances unchanged." +}, +"989-subaru-frozen-smoothing-card":{ +"revision":"989beaae3ce60999ad8b7e07be4e6e3fdfaa6938", +"sha256":{ +"opendbc_repo/opendbc/car/subaru/values.py":"a5dc8e0c5c0fa9ad43615ac149f8bb63a105d900650b0f0c53e11911902878ba", +"opendbc_repo/opendbc/car/subaru/stock_aol.py":"279104abe844258d5e010ee35108ee5c69b0b1aa1ab25c850323c60216534595", +"openpilot/starpilot/car/subaru/smoothing.py":"38c0c6e4a9cdde0f203ac69ed65e1ed8490a6f976d624fafdab91fb820bcea1b", +"openpilot/starpilot/vehicle_preferences.py":"bb01590ede99e5450356258ce2b4dfb3bae334ddded304d19d84b2641b7b86e0", +"openpilot/selfdrive/car/card.py":"bc4f77c3ac110a49a840a0ed3d762acb1614466fd1bb63123da80ae0ef0c75c7", +"openpilot/starpilot/car/subaru/tests/test_smoothing_factory.py":"261c026576da773c8eaad7afab05e8ac5753ab7af1e82640823f17531ffd56b6", +"openpilot/selfdrive/test/process_replay/process_replay.py":"383b877fe764441d9efa0ae651f919da3532151047bedc99a2826a35bc9669b5", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832", +"tools/ci/replay-fixture-cache.json":"99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15" +}, +"verification":"Completed hosted process replay reused verbatim. Pure decoding/comparison of all19127 output messages finds exactly two CarParams.flags deltas141->8333; clearing only SMOOTHING_BOUND restores zero differences using unchanged Card ignores/tolerance. No local native replay or source overlay." +}, +"9eab5400a44b84f8c96d99b2b43a7b75242caf22":{ +"revision":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"sha256":{ +"opendbc_repo/opendbc/car/hyundai/daw.py":"51860838771d16f034256815787e3cec8e0d94882d0a157c6858e2b2fcfc626a", +"opendbc_repo/opendbc/car/hyundai/carcontroller.py":"49464cf2e23973fbfeac4c4856ef60a80e8e26d99ff9fde214a3a388b62aad73", +"opendbc_repo/opendbc/car/toyota/interface.py":"86f1d7e0ec97512cfd0b168703e954bcd4925a0362efb88cd2ad054f0553e50c", +"openpilot/selfdrive/selfdrived/selfdrived.py":"30395e9d61d280a84241cedfd7d876e65a71bd39074100e9304a56bdc6236cf7", +"openpilot/selfdrive/locationd/lagd.py":"d8d6f7eb97009f9b6fc3b2291b273a14056bb7e88e6edbfecb97c773074c26a1", +"openpilot/selfdrive/locationd/calibrationd.py":"25851a6715ffc95ac0bb210a774c8add6beb1f34b25dd6776aad9851202a98ce", +"openpilot/starpilot/lateral/prius_policy.py":"ee82f29b0ee6b633e765fe5a615487ebcd03c71a06959b5f33174e723c32aace", +"openpilot/starpilot/lateral/hkg_torque_policy.py":"378e65d0cbac24397fe93561f8684241e619226cb3f2869ff22d090614a41f7c", +"openpilot/selfdrive/test/process_replay/process_replay.py":"5434b75b8f244ae2b090853e4e02c080dc0a550c77145024ff393973d5b904e9", +"openpilot/selfdrive/test/process_replay/compare_logs.py":"fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202", +"tools/ci/replay_references.py":"75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832" +}, +"verification":"Unmodified hosted process outputs from exact source revision, artifact 13302572790. Eight causal runtime files independently match qualified baf883 Git blobs. Current helper/config/comparator identities verified. The seven bounded semantic contracts were independently reviewed and accepted; per-output evidence retains the qualification limits. This is not a full-CI or physical-performance qualification." +}, +"hkg-specific-controller-defaults-1383968390":{ +"revision":"e1e3be94fe4ec021a47c34cafe4695a89e0803d4", +"sha256":{ +"openpilot/starpilot/lateral/controller_selection.py":"0f82a314bf8dabd540df300a97e8e0206e5d6663f8ce5861062006a9a95752b6", +"openpilot/selfdrive/controls/controlsd.py":"4175c708a835537fcae6ae41805ab636dc711ad8eb78026466e37ca776fe334c", +"openpilot/selfdrive/controls/lib/latcontrol_torque.py":"278d64593a26eba999570cb4dfbdf935745ec435f8692305d03bd271fb13d8d6", +"openpilot/starpilot/lateral/hkg_vehicle_policy.py":"ab5a3c7e9237d2c7a429b4a0e77945e922a5d5c409ea17f586926be2cbcb1e24", +"openpilot/starpilot/lateral/hkg_torque_policy.py":"378e65d0cbac24397fe93561f8684241e619226cb3f2869ff22d090614a41f7c", +"openpilot/starpilot/lateral/hkg_vehicle_shaping.py":"4393ef338ae14abe4b97bf3a2adc94f8465025ec5a985cb06e02c97d897d10b0", +"opendbc_repo/opendbc/car/hyundai/values.py":"d2223ff94a204bc365d2960cb238ebe4116e9d11e545823d63edf34a1fd41269", +"opendbc_repo/opendbc/car/hyundai/interface.py":"84271e5c90afc5ff7a7cf7410b14ed57db5554818d283e4ea77384f5e10b6a9e" +} +} +} } diff --git a/tools/ci/review_hkg_defaults/regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd.zst b/openpilot/selfdrive/test/process_replay/refs/starpilot/regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd.zst similarity index 100% rename from tools/ci/review_hkg_defaults/regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd.zst rename to openpilot/selfdrive/test/process_replay/refs/starpilot/regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd.zst diff --git a/openpilot/selfdrive/test/process_replay/refs/starpilot/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst b/openpilot/selfdrive/test/process_replay/refs/starpilot/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst index fe09bbf4dd..748c5d2b6c 100644 Binary files a/openpilot/selfdrive/test/process_replay/refs/starpilot/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst and b/openpilot/selfdrive/test/process_replay/refs/starpilot/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst differ diff --git a/openpilot/starpilot/lateral/tests/test_ev6_default.py b/openpilot/starpilot/lateral/tests/test_ev6_default.py index 7218ccc3cf..aee4f4181a 100644 --- a/openpilot/starpilot/lateral/tests/test_ev6_default.py +++ b/openpilot/starpilot/lateral/tests/test_ev6_default.py @@ -1,4 +1,4 @@ -"""Untuned EV6 lateral selection and steering command boundaries.""" +"""EV6 vehicle-policy defaults and steering command boundaries.""" import unittest @@ -15,6 +15,7 @@ from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags, CarControllerPara from opendbc.car.lateral import apply_driver_steer_torque_limits from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.starpilot.lateral.torque_extension import selected_policy +from openpilot.starpilot.lateral.hkg_vehicle_policy import HKGVehicleTorquePolicy from openpilot.starpilot.lateral.torque_runtime import runtime_enabled @@ -26,7 +27,7 @@ def ev6(lka_steering: bool): class TestEV6DefaultLateral(unittest.TestCase): - def test_hda_topologies_keep_vehicle_tune_and_generic_controller(self): + def test_hda_topologies_keep_vehicle_tune_and_vehicle_policy(self): for lka_steering in (False, True): with self.subTest(lka_steering=lka_steering), OpenpilotPrefix(): cp = ev6(lka_steering) @@ -40,7 +41,8 @@ class TestEV6DefaultLateral(unittest.TestCase): self.assertFalse(runtime_enabled(cp, Params())) self.assertEqual(cp.lateralTuning.to_dict(), original_tune) lateral = LatControlTorque(cp.as_reader(), CarInterface(cp), DT_CTRL) - self.assertIsNone(selected_policy(lateral)) + self.assertIsInstance(selected_policy(lateral), HKGVehicleTorquePolicy) + self.assertEqual(selected_policy(lateral).profile, "kia_ev6") self.assertAlmostEqual(lateral.torque_params.latAccelFactor, cp.lateralTuning.torque.latAccelFactor) controller = CarController(DBC[cp.carFingerprint], cp) self.assertIsNone(controller.ioniq6_longitudinal) diff --git a/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py b/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py index 8c07583fd9..e764be237f 100644 --- a/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py +++ b/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py @@ -28,7 +28,7 @@ def _legacy_friction(controller, error, deadzone, threshold, _cs, _setpoint): def _rows(car, sequence, *, profile='2023', matched_frozen_cp=False, passive=False, direct_original_controller=False, turn_assist=True, - roll=None): + roll=None, controller_mode=None): cp = interfaces[car].get_non_essential_params(car) cp.passive = passive if matched_frozen_cp: @@ -44,7 +44,7 @@ def _rows(car, sequence, *, profile='2023', matched_frozen_cp=False, passive=Fal versions[0].fwVersion = b'IONIQ6-230915' versions[1].fwVersion = b'IONIQ6-240206' ci = interfaces[car](cp) - controller = LatControlTorque(cp.as_reader(), ci, DT_CTRL, turn_assist=turn_assist) + controller = LatControlTorque(cp.as_reader(), ci, DT_CTRL, turn_assist=turn_assist, controller_mode=controller_mode) if direct_original_controller: # The older frozen vectors called the controller directly, before the # original controlsd drive loop replaced the PID gain curve each tick. @@ -178,7 +178,8 @@ class Ioniq6PolicyTests(unittest.TestCase): parent = json.loads((TESTDATA / 'non_ioniq_parent.json').read_text()) for car in (TOYOTA.TOYOTA_COROLLA_TSS2, HYUNDAI.HYUNDAI_IONIQ_5): with self.subTest(car=str(car)): - controller, actual = _rows(car, sequence, passive=car == TOYOTA.TOYOTA_COROLLA_TSS2, turn_assist=False) + controller, actual = _rows(car, sequence, passive=car == TOYOTA.TOYOTA_COROLLA_TSS2, turn_assist=False, + controller_mode='standard') self.assertIsNone(selected_policy(controller)) for row, expected in zip(actual, parent[str(car)], strict=True): for value, reference in zip(row, expected, strict=True): diff --git a/tools/ci/review_hkg_defaults/old_default.txt b/tools/ci/review_hkg_defaults/old_default.txt deleted file mode 100644 index d562958fbf..0000000000 --- a/tools/ci/review_hkg_defaults/old_default.txt +++ /dev/null @@ -1,7 +0,0 @@ -def default_selection(CP) -> ControllerSelection: - policy = policy_for(CP) - from openpilot.starpilot.lateral.hkg_vehicle_policy import PROFILES - forte_non_scc = policy == 'kia_forte' and str(CP.carFingerprint) in ('KIA_FORTE_2019_NON_SCC', 'KIA_FORTE_2021_NON_SCC') - dom_default = forte_non_scc or policy == 'kia_carnival' - mode = ControllerMode.STARPILOT if policy and policy != 'generic' and (policy not in PROFILES or dom_default) else ControllerMode.STANDARD - return ControllerSelection(mode, policy, 'default') diff --git a/tools/ci/review_hkg_defaults/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst b/tools/ci/review_hkg_defaults/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst deleted file mode 100644 index 748c5d2b6c..0000000000 Binary files a/tools/ci/review_hkg_defaults/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst and /dev/null differ diff --git a/tools/ci/review_hkg_defaults/review.py b/tools/ci/review_hkg_defaults/review.py deleted file mode 100644 index 0d60c522f1..0000000000 --- a/tools/ci/review_hkg_defaults/review.py +++ /dev/null @@ -1,38 +0,0 @@ -from pathlib import Path -import ast,hashlib,json,subprocess,sys -R=Path.cwd();D=Path(__file__).parent;O=R/'review-results';O.mkdir(exist_ok=True) -selection=R/'openpilot/starpilot/lateral/controller_selection.py' -original=selection.read_bytes();text=original.decode();node=next(n for n in ast.parse(text).body if isinstance(n,ast.FunctionDef) and n.name=='default_selection') -current=ast.get_source_segment(text,node);previous=(D/'old_default.txt').read_text().rstrip() -assert hashlib.sha256((previous+'\n').encode()).hexdigest()=='c046839822779ce34ef902bc5698ee894a164880bdceb38d2473bde71c2a3aa2' -assert text.count(current)==1 -args=[sys.executable,'openpilot/selfdrive/test/process_replay/test_processes.py','--whitelist-cars','HYUNDAI','HYUNDAI2','--whitelist-procs','controlsd','-j2'] -def run(label,expected): - result=subprocess.run([*args,'--output',str(O/label)],stdout=subprocess.PIPE,stderr=subprocess.STDOUT) - (O/(label+'.log')).write_bytes(result.stdout) - print(label,'returncode',result.returncode,flush=True) - assert result.returncode==expected,result.stdout.decode(errors='replace')[-3000:] -try: - selection.write_text(text.replace(current,previous)) - run('previous-default',0) -finally: - selection.write_bytes(original) -assert selection.read_bytes()==original -run('current-default',1) -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS -from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs -from openpilot.selfdrive.test.process_replay.test_processes import get_log_data -from openpilot.tools.lib.logreader import LogReader -from tools.ci.replay_references import config_signature -cfg=next(c for c in CONFIGS if c.proc_name=='controlsd');rows=[] -for segment in ('regenAA0FC4ED71E|2025-04-08--22-57-50--0','regenAFB9780D823|2025-04-08--23-00-34--0'): - stem=segment.replace('|','_')+'_controlsd';fresh=next((O/'current-default/new').glob(stem+'_*.zst'));prior=next((O/'previous-default/new').glob(stem+'_*.zst'));expected=D/(stem+'.zst') - fresh_msgs=list(LogReader(str(fresh)));expected_msgs=list(LogReader(str(expected)));prior_msgs=list(LogReader(str(prior))) - diffs=compare_logs(expected_msgs,fresh_msgs,cfg.ignore,[],cfg.tolerance);assert not diffs,str(diffs[:3]) - assert {m.controlsState.lateralControlState.torqueState.version for m in fresh_msgs if m.which()=='controlsState'}=={2} - assert {m.controlsState.lateralControlState.torqueState.version for m in prior_msgs if m.which()=='controlsState'}=={1} - assert any(m.which()=='carControl' and m.carControl.latActive and abs(m.carControl.actuators.torque)>.01 for m in fresh_msgs) - _,raw,params=get_log_data(segment);cp=next(e.carParams for e in LogReader.from_bytes(raw) if e.which()=='carParams') - rows.append({'segment':segment,'process':'controlsd','input_sha256':hashlib.sha256(raw).hexdigest(),'input_bytes':len(raw),'config_sha256':config_signature(cfg),'car_fingerprint':cp.carFingerprint,'expected_file':expected.name,'expected_bytes':expected.stat().st_size,'expected_sha256':hashlib.sha256(expected.read_bytes()).hexdigest(),'messages':len(fresh_msgs),'current_vs_published_differences':len(diffs),'previous_default_vs_prior_reference_differences':0,'old_version':1,'current_version':2,'fixture_param_keys':sorted(params or {})}) -result={'sourceCommit':subprocess.check_output(['git','rev-parse','HEAD'],text=True).strip(),'shippingSourceRestored':selection.read_bytes()==original,'selection_sha256':hashlib.sha256(original).hexdigest(),'old_default_sha256':hashlib.sha256((previous+'\n').encode()).hexdigest(),'extraIgnoredFields':[],'extraIgnoredMessages':[],'comparisons':'Original complete-message comparator and original configuration/tolerances','intentionalCommit':'13839683908c449dfbb055cb4950e339ed2b1a1f','rows':rows} -(O/'paired-review.json').write_text(json.dumps(result,indent=2));print(json.dumps(result),flush=True)