Update Upstream Compatibility Checks

msgq_repo/msgq/msgq_tests.cc

@@ -7,10 +7,14 @@
 
 static void cleanup_test_queue() {
 #ifdef __APPLE__
-  remove("/tmp/msgq_test_queue");
+  std::string file = "/tmp/msgq_";
 #else
-  remove("/dev/shm/msgq_test_queue");
+  std::string file = "/dev/shm/msgq_";
 #endif
+  const char *prefix = std::getenv("OPENPILOT_PREFIX");
+  if (prefix != nullptr) file += std::string(prefix) + "/";
+  file += "test_queue";
+  std::remove(file.c_str());
 }
 
 TEST_CASE("ALIGN")

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_handoff.py

@@ -851,6 +851,7 @@ class TestIoniq6PrepublicationHandoff(unittest.TestCase):
     card_owner.rk = SimpleNamespace(remaining=0.0)
     card_owner.is_metric = True
     card_owner.experimental_mode = False
+    card_owner.initial_cruise_speed = 40
     card_owner.v_cruise_helper = SimpleNamespace(update_v_cruise=lambda *_: None, initialize_v_cruise=lambda *_, **kwargs: None,
                                                  slc_consumed_button=None,
                                                  slc_cruise_change=None, v_cruise_kph=60.0, v_cruise_cluster_kph=60.0)

openpilot/starpilot/longitudinal/tests/test_cruise_delay.py

@@ -48,7 +48,7 @@ class NativeCruiseDelayTests(unittest.TestCase):
         kwargs: dict[str, Any] = {'now_ns': NOW, 'drive_id': DRIVE}
         if case == 'profile':
           kwargs['profile_tuning'] = ProfileTuning('standard', 1.8, 1., 1., 1., 1., 1.,
-                                                   acceleration_max=.7, cruise_brake_magnitude=.4)
+                                                   acceleration_max=.7, cruise_brake_magnitude=.6)
         if case in ('cem', 'experimental'):
           kwargs['conditional_handoff'] = KEY
         before = message_bytes(envelopes)
@@ -99,7 +99,9 @@ class NativeCruiseDelayTests(unittest.TestCase):
         np.testing.assert_allclose(current.mpc.x0[1:], expected_state)
         if case == 'profile':
           self.assertIsNotNone(current.last_profile)
-          self.assertAlmostEqual(float(current.mpc.params[0, 4]), 1.8)
+          # A valid ordinary profile fades from native 1.45 by dt=.05.
+          self.assertAlmostEqual(current.last_profile.follow_seconds, 1.5)
+          self.assertAlmostEqual(float(current.mpc.params[0, 4]), current.last_profile.follow_seconds)
         if case in ('cem', 'experimental'):
           # This single-cycle fixture proves handoff admission, not a transition hold.
           self.assertEqual(current.experimental_release.key, KEY)

openpilot/starpilot/ui/tests/test_native_settings_pages.py

@@ -58,7 +58,8 @@ class NativeSettingsPageTests(unittest.TestCase):
             params.put_bool("IsMetric", metric, block=True)
             params.put("InitialCruiseSpeedKph", 80, block=True)
             ui.is_metric, ui.initial_cruise_speed = metric, 80
-            control = initial_speed.InitialCruiseSpeedControl()
+            with patch.object(gui_app, 'font', return_value=rl.Font()):
+              control = initial_speed.InitialCruiseSpeedControl()
             row = item("Initial Max Speed", control)
             pane = self.panel([row])
             pane.title = "Toggles"
@@ -525,6 +526,7 @@ class NativeSettingsPageTests(unittest.TestCase):
     owner._slc_offsets = NS(_raw=lambda key: b'0')
     owner._update_experimental_mode_icon = Mock()
     owner._long_personality_setting = personality
+    owner._initial_cruise_speed = NS(action_item=NS(refresh=Mock()))
     owner._scroller = NS(_items=[toggle, personality, experimental])
     pane = self.panel(owner._scroller._items)
     pane.panel, pane.title = owner, 'Toggles'

tools/ci/schema-policy.json

@@ -1,6 +1,6 @@
 {
   "schema_version": 2,
-  "upstream_commit": "3f06ed3bc7a4cc9c320be1f7d03dcd8a885a8e6f",
+  "upstream_commit": "2ab952d5eb16020116d3354b83f30303db5a99b4",
   "opendbc_commit": "35f7e0813462607ef1d703e52313e7571e31405d",
   "unchanged_schemas": {
     "openpilot/cereal/deprecated.capnp": "b3aa5c13de40001ed7376cef858500fb003f7698f96131cd0db18d878fa1af0d",
@@ -9,7 +9,7 @@
     "opendbc_repo/opendbc/car/include/c++.capnp": "fb306076cd38c27af1aed20fac6395e9a46fbe5b5df6a248b5f1b6845a079c44",
     "opendbc_repo/opendbc/car/rlog.capnp": "76331a09f36764d08228ba1ed6c03419cc8cdfcc797db98c4d56fab52a6ac050"
   },
-  "log_sha256": "bf39b822e577afdd6caacabde77261ac5c0929767c2f0e4ff7d5e5429e3d4c14",
+  "log_sha256": "4036fc4a3e653d877eee57a902fe59776dca607d95c17d29ca46b0db4c9313d9",
   "custom_header": "using Cxx = import \"/include/c++.capnp\";\n$Cxx.namespace(\"cereal\");\nusing Car = import \"/car.capnp\";\n\n@0xb526ba661d550a59;\n\n# custom.capnp: a home for empty structs reserved for custom forks\n# These structs are guaranteed to remain reserved and empty in mainline\n# cereal, so use these if you want custom events in your fork.\n\n# DO rename the structs\n# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n# Automatic FLM adds children only to existing reserved fork carriers.\n# All evidence clocks are explicitly MONOTONIC; default/version0 is invalid.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",
   "historical_empty_slots": [
     5