efb7fc59-c973-48de-88a3-67d3dc62fdc7/100

.gitignore

@@ -44,7 +44,6 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
 
 # build artifacts
 selfdrive/pandad/pandad

cereal/SConscript

@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")

cereal/legacy.capnp

@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
 
-# deprecated.capnp: a home for deprecated structs
+# legacy.capnp: a home for deprecated structs
 
 struct LogRotate @0x9811e1f38f62f2d1 {
   segmentNum @0 :Int32;
@@ -571,219 +571,4 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
   pkt @4 :Data;
 }
 
-struct LiveTracksDEPRECATED @0xb16f60103159415a {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
-}
 
-struct LiveMpcData @0x92a5e332a85f32a0 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
-}
-
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-}
-
-struct NavModelData @0xac3de5c437be057a {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData @0xbe09e615b2507e26 {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
-struct AndroidBuildInfo @0xfe2919d5c21f426c {
-  board @0 :Text;
-  bootloader @1 :Text;
-  brand @2 :Text;
-  device @3 :Text;
-  display @4 :Text;
-  fingerprint @5 :Text;
-  hardware @6 :Text;
-  host @7 :Text;
-  id @8 :Text;
-  manufacturer @9 :Text;
-  model @10 :Text;
-  product @11 :Text;
-  radioVersion @12 :Text;
-  serial @13 :Text;
-  supportedAbis @14 :List(Text);
-  tags @15 :Text;
-  time @16 :Int64;
-  type @17 :Text;
-  user @18 :Text;
-
-  versionCodename @19 :Text;
-  versionRelease @20 :Text;
-  versionSdk @21 :Int32;
-  versionSecurityPatch @22 :Text;
-}
-
-struct AndroidSensor @0x9b513b93a887dbcd {
-  id @0 :Int32;
-  name @1 :Text;
-  vendor @2 :Text;
-  version @3 :Int32;
-  handle @4 :Int32;
-  type @5 :Int32;
-  maxRange @6 :Float32;
-  resolution @7 :Float32;
-  power @8 :Float32;
-  minDelay @9 :Int32;
-  fifoReservedEventCount @10 :UInt32;
-  fifoMaxEventCount @11 :UInt32;
-  stringType @12 :Text;
-  maxDelay @13 :Int32;
-}
-
-struct IosBuildInfo @0xd97e3b28239f5580 {
-  appVersion @0 :Text;
-  appBuild @1 :UInt32;
-  osVersion @2 :Text;
-  deviceModel @3 :Text;
-}
-
-enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
-  unknown @0;
-  neo @1;
-  chffrAndroid @2;
-  front @3;
-}
-
-struct AndroidCaptureResult @0xbcc3efbac41d2048 {
-  sensitivity @0 :Int32;
-  frameDuration @1 :Int64;
-  exposureTime @2 :Int64;
-  rollingShutterSkew @3 :UInt64;
-  colorCorrectionTransform @4 :List(Int32);
-  colorCorrectionGains @5 :List(Float32);
-  displayRotation @6 :Int8;
-}
-
-enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-  none @0;
-  client @1;
-  cdp @2;
-  dcp @3;
-}
-
-struct LateralINDIState @0x939463348632375e {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  steeringRateDeg @2 :Float32;
-  steeringAccelDeg @3 :Float32;
-  rateSetPoint @4 :Float32;
-  accelSetPoint @5 :Float32;
-  accelError @6 :Float32;
-  delayedOutput @7 :Float32;
-  delta @8 :Float32;
-  output @9 :Float32;
-  saturated @10 :Bool;
-  steeringAngleDesiredDeg @11 :Float32;
-  steeringRateDesiredDeg @12 :Float32;
-}
-
-struct LateralLQRState @0x9024e2d790c82ade {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  i @2 :Float32;
-  output @3 :Float32;
-  lqrOutput @4 :Float32;
-  saturated @5 :Bool;
-  steeringAngleDesiredDeg @6 :Float32;
-}
-
-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
-struct LateralPlannerSolution @0x84caeca5a6b4acfe {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  yaw @2 :List(Float32);
-  yawRate @3 :List(Float32);
-  xStd @4 :List(Float32);
-  yStd @5 :List(Float32);
-  yawStd @6 :List(Float32);
-  yawRateStd @7 :List(Float32);
-}
-
-struct GpsTrajectory @0x8cfeb072f5301000 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-}

cereal/services.py

@@ -39,8 +39,8 @@ _services: dict[str, tuple] = {
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0., None, QueueSize.BIG),
+  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),

common/utils.py

@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     return compressed_stream, compressed_size
 
 
-# remove all keys that end in DEPRECATED, plus any "deprecated" group
+# remove all keys that end in DEPRECATED
 def strip_deprecated_keys(d):
   for k in list(d.keys()):
     if isinstance(k, str):
-      if k.endswith('DEPRECATED') or k == 'deprecated':
+      if k.endswith('DEPRECATED'):
         d.pop(k)
       elif isinstance(d[k], dict):
         strip_deprecated_keys(d[k])

docs/CARS.md

@@ -4,13 +4,12 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 333 Supported Cars
+# 329 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
@@ -104,7 +103,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
@@ -232,9 +230,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||

selfdrive/controls/lib/drive_helpers.py

@@ -39,17 +39,19 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
     v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
   else:
-    v_now = 0.0
     v_target = 0.0
+    v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_now < vEgoStopping and a_target < 0.1)
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
   return a_target, should_stop
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):

selfdrive/debug/cycle_alerts.py

@@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
-    (EventName.driverDistracted1, ET.WARNING),
+    (EventName.preDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted2, ET.WARNING),
+    (EventName.promptDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted3, ET.WARNING),
+    (EventName.driverDistracted, ET.WARNING),
   ]
 
   # debug alerts

selfdrive/locationd/locationd.py

@@ -24,8 +24,6 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-LOW_SPEED_GYRO_CAMODO_VEGO = 5.0  # m/s
-LOW_SPEED_CAMODO_YAWRATE_STD_FLOOR = 0.02  # rad/s
 INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
 INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
@@ -135,11 +133,7 @@ class LocationEstimator:
 
       gyro_bias = self.kf.x[States.GYRO_BIAS]
       gyro_camodo_yawrate_err = np.abs((meas[2] - gyro_bias[2]) - self.camodo_yawrate_distribution[0])
-      gyro_camodo_yawrate_std = self.camodo_yawrate_distribution[1]
+      gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * self.camodo_yawrate_distribution[1]
-      if self.car_speed < LOW_SPEED_GYRO_CAMODO_VEGO:
-        # Camera odometry can become overconfident in tight low-speed maneuvers.
-        gyro_camodo_yawrate_std = max(gyro_camodo_yawrate_std, LOW_SPEED_CAMODO_YAWRATE_STD_FLOOR)
-      gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * gyro_camodo_yawrate_std
       gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold
 
       if np.linalg.norm(meas) >= ROTATION_SANITY_CHECK or not gyro_valid:

selfdrive/modeld/SConscript

@@ -1,9 +1,6 @@
-import glob
-import json
 import os
-from SCons.Script import Value
+import glob
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
-from tinygrad import Device
 
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -16,51 +13,31 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
+# compile warp
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-# get fastest TG config
+tg_flags = {
-available = set(Device.get_available_devices())
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-if 'CUDA' in available:
+    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-  tg_backend = 'CUDA'
+}.get(arch, 'DEV=CPU:LLVM THREADS=0')
-  tg_flags = f'DEV={tg_backend}'
-elif 'QCOM' in available:
-  tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
-else:
-  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
-  tg_flags = f'DEV={tg_backend} THREADS=0'
-
-def write_tg_compiled_flags(target, source, env):
-  with open(str(target[0]), "w") as f:
-    json.dump({"DEV": tg_backend}, f)
-    f.write("\n")
-
-compiled_flags_node = lenv.Command(
-  File("models/tg_compiled_flags.json").abspath,
-  tinygrad_files + [Value(tg_backend)],
-  write_tg_compiled_flags,
-)
-
-# tinygrad calls brew which needs a $HOME in the env
-mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 # Get model metadata
 for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
 
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
 script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 warp_targets = []
 for cam in [_ar_ox_fisheye, _os_fisheye]:
   w, h = cam.width, cam.height
   warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -70,7 +47,7 @@ def tg_compile(flags, model_name):
   chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   compile_node = lenv.Command(
     pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
+    [onnx_path] + tinygrad_files + [chunker_file],
     f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
   )
   def do_chunk(target, source, env):

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.system.hardware import TICI
-set_tinygrad_backend_from_compiled_flags()
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
+from pathlib import Path
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -21,8 +21,9 @@ from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
+MODELS_DIR = Path(__file__).parent / 'models'
 
 class ModelState:
   inputs: dict[str, np.ndarray]

selfdrive/modeld/modeld.py

@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+from openpilot.system.hardware import TICI
-set_tinygrad_backend_from_compiled_flags()
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
@@ -13,6 +12,7 @@ import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
+from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -34,6 +34,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
+MODELS_DIR = Path(__file__).parent / 'models'
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
 ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'

selfdrive/modeld/models/driving_off_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e53f4e0527766082ba7bde38e275def0fe3c14f6c59ae2854439e239884d3ecc
+oid sha256:a795286cf51c6abdfe44b7a738ad8bea3a02e2e7a3e6d4b1683a04782bf35049
-size 13393365
+size 13393589

selfdrive/modeld/models/driving_on_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea89c50da3a16e710da292f97c81b083a982cfdee5c28eca0d37ed2fb99af6c5
+oid sha256:3458d3a1844c6114acb4ff5c75b795a1bec6db41a633a346d17e721f190905f0
-size 13022642
+size 13022800

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6263aa3fbb44cde6c68a34cdb7cd8c389789dbc02b15c1911afdac4e018281ae
+oid sha256:92c7a96baa5bc919e36a76af8844514fbb8b6218eb97e9c23d2e9896596ef7c1
-size 23267151
+size 23267519

selfdrive/modeld/tinygrad_helpers.py

@@ -1,12 +0,0 @@
-import json
-import os
-from pathlib import Path
-
-MODELS_DIR = Path(__file__).parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
-
-
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])

selfdrive/monitoring/helpers.py

@@ -345,14 +345,10 @@ class DriverMonitoring:
       self._reset_awareness()
       return
 
+    driver_attentive = self.driver_distraction_filter.x < 0.37
     awareness_prev = self.awareness
-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
 
-    if self.awareness > 0 and \
+    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
-       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
       if driver_engaged:
         self._reset_awareness()
         return
@@ -365,28 +361,34 @@ class DriverMonitoring:
       if self.awareness > self.threshold_prompt:
         return
 
+    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
+    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
+    _reaching_terminal = self.awareness - self.step_change <= 0
+    standstill_exemption = standstill and _reaching_pre
+    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
+
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption):
+      if not (standstill_exemption or always_on_red_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
     if self.awareness <= 0.:
       # terminal red alert: disengagement required
-      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
+      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
-      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
+      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
     elif self.awareness <= self.threshold_pre:
       # pre green alert
-      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
+      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
 
     if alert is not None:
       self.current_events.add(alert)

selfdrive/monitoring/test_monitoring.py

@@ -75,11 +75,11 @@ class TestMonitoring:
     assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
     assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
                     ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.driverDistracted1
+                    EventName.preDriverDistracted
     assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
+                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
     assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
+                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
@@ -88,11 +88,11 @@ class TestMonitoring:
     assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
     assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
                       ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.driverUnresponsive1
+                      EventName.preDriverUnresponsive
     assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
+                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
     assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
+                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -105,10 +105,10 @@ class TestMonitoring:
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
     events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
     assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
     assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
     assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
@@ -128,9 +128,9 @@ class TestMonitoring:
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
+    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
+    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
     assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
@@ -144,13 +144,13 @@ class TestMonitoring:
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
     assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
     assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
       assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
@@ -165,10 +165,10 @@ class TestMonitoring:
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
     assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
     assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
 
   # disengaged, always distracted driver
@@ -186,19 +186,8 @@ class TestMonitoring:
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
     _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-
-  # engaged, distracted while moving, then car stops after reaching orange
-  #  - should reset timer to pre green at standstill
-  def test_distracted_then_stops(self):
-    _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
-    standstill_vector = always_false[:]
-    standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
-    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    # just before and briefly after stopping: orange alert; goes away quickly after stopped
-    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
@@ -206,9 +195,10 @@ class TestMonitoring:
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.driverUnresponsive1 in \
+    assert EventName.preDriverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive2 in \
+    assert EventName.promptDriverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive3 in \
+    assert EventName.driverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
+

selfdrive/selfdrived/events.py

@@ -512,7 +512,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
-  EventName.driverDistracted1: {
+  EventName.preDriverDistracted: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "",
@@ -520,7 +520,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
-  EventName.driverDistracted2: {
+  EventName.promptDriverDistracted: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "Driver Distracted",
@@ -528,7 +528,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverDistracted3: {
+  EventName.driverDistracted: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Distracted",
@@ -536,7 +536,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
-  EventName.driverUnresponsive1: {
+  EventName.preDriverUnresponsive: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel: No Face Detected",
       "",
@@ -544,7 +544,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
-  EventName.driverUnresponsive2: {
+  EventName.promptDriverUnresponsive: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel",
       "Driver Unresponsive",
@@ -552,7 +552,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverUnresponsive3: {
+  EventName.driverUnresponsive: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Unresponsive",
@@ -1032,14 +1032,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
 if HARDWARE.get_device_type() == 'mici':
   EVENTS.update({
-    EventName.driverDistracted1: {
+    EventName.preDriverDistracted: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
         Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
     },
-    EventName.driverDistracted2: {
+    EventName.promptDriverDistracted: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "Driver Distracted",

selfdrive/test/fuzzy_generation.py

@@ -46,8 +46,8 @@ class FuzzyGenerator:
 
   def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
+    fields_to_generate = schema.non_union_fields + single_fill
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
 
   @staticmethod
   @cache

selfdrive/test/process_replay/migration.py

@@ -98,17 +98,6 @@ def migration(inputs: list[str], product: str|None=None):
   return decorator
 
 
-def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
-  event_dict = event.to_dict()
-  try:
-    return log.OnroadEvent(**event_dict)
-  except capnp.lib.capnp.KjException as e:
-    # Ignore legacy events the current schema no longer defines.
-    if "enum has no such enumerant" in str(e):
-      return None
-    raise
-
-
 @migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
   ops = []
@@ -225,7 +214,7 @@ def migrate_controlsState(msgs):
     for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
-      setattr(ss, field, getattr(msg.controlsState.deprecated, field))
+      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
     add_ops.append(m.as_reader())
   return [], add_ops, []
 
@@ -238,10 +227,10 @@ def migrate_carState(msgs):
     if msg.which() == 'controlsState':
       last_cs = msg
     elif msg.which() == 'carState' and last_cs is not None:
-      if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
+      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
-        msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
+        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
-        msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
+        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
         ops.append((index, msg.as_reader()))
   return ops, [], []
 
@@ -303,7 +292,7 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
     "CHEVROLET_VOLT": GMSafetyFlags.EV,
     "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
@@ -467,13 +456,12 @@ def migrate_onroadEvents(msgs):
     for event in msg.onroadEventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          migrated_event = migrate_onroad_event(event)
+          # dict converts name enum into string representation
-          if migrated_event is not None:
+          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
-            onroadEvents.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 
-    new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
+    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
@@ -488,12 +476,11 @@ def migrate_driverMonitoringState(msgs):
   for index, msg in msgs:
     msg = msg.as_builder()
     events = []
-    for event in msg.driverMonitoringState.deprecated.events:
+    for event in msg.driverMonitoringState.eventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          migrated_event = migrate_onroad_event(event)
+          # dict converts name enum into string representation
-          if migrated_event is not None:
+          events.append(log.OnroadEvent(**event.to_dict()))
-            events.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 

selfdrive/ui/installer/installer.cc

@@ -144,7 +144,6 @@ int cachedFetch(const std::string &cache) {
   LOGD("Fetching with cache: %s", cache.c_str());
 
   run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
-  run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str());
   run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
 
   renderProgress(10);

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -153,7 +153,7 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     set_speed = (
-      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):

selfdrive/ui/onroad/hud_renderer.py

@@ -86,7 +86,7 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1

selfdrive/ui/soundd.py

@@ -18,7 +18,6 @@ SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
-ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
@@ -70,9 +69,6 @@ class Soundd:
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
-    self.ramp_start_volume = MIN_VOLUME
-    self.ramp_start_time = 0.
-
     self.selfdrive_timeout_alert = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
@@ -121,9 +117,6 @@ class Soundd:
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
-      if new_alert == AudibleAlert.warningImmediate:
-        self.ramp_start_volume = self.current_volume
-        self.ramp_start_time = time.monotonic()
       self.current_alert = new_alert
       self.current_sound_frame = 0
 
@@ -162,19 +155,12 @@ class Soundd:
       while True:
         sm.update(0)
 
-        # Always update volume, even when alert is playing
+        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-        if sm.updated['soundPressure']:
           self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
 
-        # Ramp up immediate warning sound over 4s
-        if self.current_alert == AudibleAlert.warningImmediate:
-          elapsed = time.monotonic() - self.ramp_start_time
-          ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
-          self.current_volume = max(self.current_volume, ramp_vol)
-
         rk.keep_time()
 
         assert stream.active

system/hardware/esim.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 import argparse
+import time
 from openpilot.system.hardware import HARDWARE
 
 
@@ -12,13 +13,16 @@ if __name__ == '__main__':
   parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
   args = parser.parse_args()
 
+  mutated = False
   lpa = HARDWARE.get_sim_lpa()
   if args.switch:
     lpa.switch_profile(args.switch)
+    mutated = True
   elif args.delete:
     confirm = input('are you sure you want to delete this profile? (y/N) ')
     if confirm == 'y':
       lpa.delete_profile(args.delete)
+      mutated = True
     else:
       print('cancelled')
       exit(0)
@@ -29,6 +33,11 @@ if __name__ == '__main__':
   else:
     parser.print_help()
 
+  if mutated:
+    HARDWARE.reboot_modem()
+    # eUICC needs a small delay post-reboot before querying profiles
+    time.sleep(.5)
+
   profiles = lpa.list_profiles()
   print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
   for p in profiles:

system/hardware/tici/lpa.py

@@ -2,23 +2,17 @@
 
 import atexit
 import base64
-import fcntl
 import math
 import os
 import serial
-import subprocess
 import sys
-import termios
-import time
 
-from collections.abc import Callable, Generator
+from collections.abc import Generator
-from contextlib import contextmanager
-from typing import Any
 
-from openpilot.system.hardware.base import LPABase, LPAError, Profile
+from openpilot.system.hardware.base import LPABase, Profile
 
 
-DEFAULT_DEVICE = "/dev/modem_at0"
+DEFAULT_DEVICE = "/dev/ttyUSB2"
 DEFAULT_BAUD = 9600
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
@@ -26,82 +20,44 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100"
 MM = "org.freedesktop.ModemManager1"
 MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
-OPEN_ISDR_RETRIES = 10
-OPEN_ISDR_RETRY_DELAY_S = 0.25
-OPEN_ISDR_RESET_ATTEMPT = 5
-SEND_APDU_RETRIES = 3
-LOCK_FILE = '/dev/shm/modem_lpa.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
-
 # TLV Tags
 TAG_ICCID = 0x5A
-TAG_STATUS = 0x80
 TAG_PROFILE_INFO_LIST = 0xBF2D
-TAG_SET_NICKNAME = 0xBF29
-TAG_ENABLE_PROFILE = 0xBF31
-TAG_DELETE_PROFILE = 0xBF33
-TAG_OK = 0xA0
-
-PROFILE_OK = 0x00
-PROFILE_NOT_IN_DISABLED_STATE = 0x02
-PROFILE_CAT_BUSY = 0x05
-
-PROFILE_ERROR_CODES = {
-  0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState",
-  0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
-  PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
-}
 
 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
 ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
 CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
 
-# TLV tag -> (field_name, decoder)
-FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
-
 
 def b64e(data: bytes) -> str:
   return base64.b64encode(data).decode("ascii")
 
 
-def base64_trim(s: str) -> str:
-  return "".join(c for c in s if c not in "\n\r \t")
-
-
-def b64d(s: str) -> bytes:
-  return base64.b64decode(base64_trim(s))
-
-
 class AtClient:
-  def __init__(self, device: str, baud: int, timeout: float) -> None:
+  def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None:
+    self.debug = debug
     self.channel: str | None = None
-    self._device = device
-    self._baud = baud
     self._timeout = timeout
     self._serial: serial.Serial | None = None
-    self._use_dbus = not os.path.exists(device)
+    try:
-
+      self._serial = serial.Serial(device, baudrate=baud, timeout=timeout)
-  def send_raw(self, data: bytes) -> None:
+      self._serial.reset_input_buffer()
-    self._ensure_serial()
+    except (serial.SerialException, PermissionError, OSError):
-    self._serial.reset_input_buffer()
+      pass
-    self._serial.write(data)
-    self._serial.flush()
 
   def close(self) -> None:
     try:
       if self.channel:
-        try:
+        self.query(f"AT+CCHC={self.channel}")
-          self.query(f"AT+CCHC={self.channel}")
-        except (RuntimeError, TimeoutError):
-          pass
         self.channel = None
     finally:
       if self._serial:
         self._serial.close()
 
   def _send(self, cmd: str) -> None:
-    if DEBUG:
+    if self.debug:
       print(f"SER >> {cmd}", file=sys.stderr)
     self._serial.write((cmd + "\r").encode("ascii"))
 
@@ -114,7 +70,7 @@ class AtClient:
       line = raw.decode(errors="ignore").strip()
       if not line:
         continue
-      if DEBUG:
+      if self.debug:
         print(f"SER << {line}", file=sys.stderr)
       if line == "OK":
         return lines
@@ -122,18 +78,6 @@ class AtClient:
         raise RuntimeError(f"AT command failed: {line}")
       lines.append(line)
 
-  def _ensure_serial(self, reconnect: bool = False) -> None:
-    if reconnect:
-      self.channel = None
-      try:
-        if self._serial:
-          self._serial.close()
-      except Exception:
-        pass
-      self._serial = None
-    if self._serial is None:
-      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
-
   def _get_modem(self):
     import dbus
     bus = dbus.SystemBus()
@@ -143,88 +87,48 @@ class AtClient:
     return bus.get_object(MM, modem_path)
 
   def _dbus_query(self, cmd: str) -> list[str]:
-    if DEBUG:
+    if self.debug:
       print(f"DBUS >> {cmd}", file=sys.stderr)
     try:
       result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
     except Exception as e:
       raise RuntimeError(f"AT command failed: {e}") from e
     lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if DEBUG:
+    if self.debug:
       for line in lines:
         print(f"DBUS << {line}", file=sys.stderr)
     return lines
 
   def query(self, cmd: str) -> list[str]:
-    if self._use_dbus:
+    if self._serial:
-      return self._dbus_query(cmd)
-    self._ensure_serial()
-    try:
-      self._send(cmd)
-      return self._expect()
-    except serial.SerialException:
-      self._ensure_serial(reconnect=True)
       self._send(cmd)
       return self._expect()
+    return self._dbus_query(cmd)
 
-  def _open_isdr_once(self) -> None:
+  def open_isdr(self) -> None:
-    if self.channel:
+    # close any stale logical channel from a previous crashed session
-      try:
+    try:
-        self.query(f"AT+CCHC={self.channel}")
+      self.query("AT+CCHC=1")
-      except RuntimeError:
+    except RuntimeError:
-        pass
+      pass
-      self.channel = None
-    # drain any unsolicited responses before opening
-    if self._serial and not self._use_dbus:
-      try:
-        self._serial.reset_input_buffer()
-      except (OSError, serial.SerialException, termios.error):
-        self._ensure_serial(reconnect=True)
     for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
       if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
         self.channel = ch
         return
     raise RuntimeError("Failed to open ISD-R application")
 
-  def _reset_modem(self) -> None:
-    if self._serial:
-      try:
-        self._serial.close()
-      except Exception:
-        pass
-      self._serial = None
-    subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
-
-  def open_isdr(self) -> None:
-    for attempt in range(OPEN_ISDR_RETRIES):
-      try:
-        self._open_isdr_once()
-        return
-      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
-        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
-        if attempt == OPEN_ISDR_RESET_ATTEMPT:
-          self._reset_modem()
-    raise RuntimeError("Failed to open ISD-R after retries")
-
   def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
-    for attempt in range(SEND_APDU_RETRIES):
+    if not self.channel:
-      try:
+      raise RuntimeError("Logical channel is not open")
-        if not self.channel:
+    hex_payload = apdu.hex().upper()
-          self.open_isdr()
+    for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
-        hex_payload = apdu.hex().upper()
+      if line.startswith("+CGLA:"):
-        for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+        parts = line.split(":", 1)[1].split(",", 1)
-          if line.startswith("+CGLA:"):
+        if len(parts) == 2:
-            parts = line.split(":", 1)[1].split(",", 1)
+          data = bytes.fromhex(parts[1].strip().strip('"'))
-            if len(parts) == 2:
+          if len(data) >= 2:
-              data = bytes.fromhex(parts[1].strip().strip('"'))
+            return data[:-2], data[-2], data[-1]
-              if len(data) >= 2:
+    raise RuntimeError("Missing +CGLA response")
-                return data[:-2], data[-2], data[-1]
-        raise RuntimeError("Missing +CGLA response")
-      except (RuntimeError, ValueError):
-        self.channel = None
-        if attempt == SEND_APDU_RETRIES - 1:
-          raise
-    raise RuntimeError("send_apdu failed")
 
 
 # --- TLV utilities ---
@@ -266,37 +170,12 @@ def find_tag(data: bytes, target: int) -> bytes | None:
   return next((v for t, v in iter_tlv(data) if t == target), None)
 
 
-def require_tag(data: bytes, target: int, label: str = "") -> bytes:
-  v = find_tag(data, target)
-  if v is None:
-    raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
-  return v
-
-
 def tbcd_to_string(raw: bytes) -> str:
   return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
 
 
-def string_to_tbcd(s: str) -> bytes:
+# Profile field decoders: TLV tag -> (field_name, decoder)
-  digits = [int(c) for c in s if c.isdigit()]
+_PROFILE_FIELDS = {
-  return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
-
-
-def encode_tlv(tag: int, value: bytes) -> bytes:
-  tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
-  vlen = len(value)
-  if vlen <= 127:
-    return tag_bytes + bytes([vlen]) + value
-  length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
-  return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
-
-
-def int_bytes(n: int) -> bytes:
-  """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
-  return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
-
-
-PROFILE: FieldMap = {
   TAG_ICCID: ("iccid", tbcd_to_string),
   0x4F: ("isdpAid", lambda v: v.hex().upper()),
   0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
@@ -309,11 +188,11 @@ PROFILE: FieldMap = {
 }
 
 
-def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+def _decode_profile_fields(data: bytes) -> dict:
-  """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+  """Parse known profile metadata TLV fields into a dict."""
-  result: dict[str, Any] = {name: None for name, _ in field_map.values()}
+  result = {}
   for tag, value in iter_tlv(data):
-    if (field := field_map.get(tag)):
+    if (field := _PROFILE_FIELDS.get(tag)):
       result[field[0]] = field[1](value)
   return result
 
@@ -346,102 +225,57 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
 # --- Profile operations ---
 
 def decode_profiles(blob: bytes) -> list[dict]:
-  root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+  root = find_tag(blob, TAG_PROFILE_INFO_LIST)
-  list_ok = find_tag(root, TAG_OK)
+  if root is None:
+    raise RuntimeError("Missing ProfileInfoList")
+  list_ok = find_tag(root, 0xA0)
   if list_ok is None:
     return []
-  return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+  defaults = {name: None for name, _ in _PROFILE_FIELDS.values()}
+  return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3]
 
 
 def list_profiles(client: AtClient) -> list[dict]:
   return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
 
 
-def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
-  nickname_bytes = nickname.encode("utf-8")
-  if len(nickname_bytes) > 64:
-    raise ValueError("Profile nickname must be 64 bytes or less")
-  content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
-  response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
-  code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0]
-  if code == 0x01:
-    raise LPAError(f"profile {iccid} not found")
-  if code != 0x00:
-    raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
-
-
 class TiciLPA(LPABase):
+  _instance = None
+
+  def __new__(cls):
+    if cls._instance is None:
+      cls._instance = super().__new__(cls)
+    return cls._instance
+
   def __init__(self):
     if hasattr(self, '_client'):
       return
-    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG)
+    self._client.open_isdr()
     atexit.register(self._client.close)
 
-  @contextmanager
-  def _acquire_channel(self):
-    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
-    try:
-      fcntl.flock(fd, fcntl.LOCK_EX)
-      self._client.open_isdr()
-      yield
-    finally:
-      if self._client.channel:
-        try:
-          self._client.query(f"AT+CCHC={self._client.channel}")
-        except (RuntimeError, TimeoutError):
-          pass
-        self._client.channel = None
-      fcntl.flock(fd, fcntl.LOCK_UN)
-      os.close(fd)
-
   def list_profiles(self) -> list[Profile]:
-    with self._acquire_channel():
+    return [
-      return [
+      Profile(
-        Profile(
+        iccid=p.get("iccid", ""),
-          iccid=p.get("iccid", ""),
+        nickname=p.get("profileNickname") or "",
-          nickname=p.get("profileNickname") or "",
+        enabled=p.get("profileState") == "enabled",
-          enabled=p.get("profileState") == "enabled",
+        provider=p.get("serviceProviderName") or "",
-          provider=p.get("serviceProviderName") or "",
+      )
-        )
+      for p in list_profiles(self._client)
-        for p in list_profiles(self._client)
+    ]
-      ]
 
   def get_active_profile(self) -> Profile | None:
     return None
 
   def delete_profile(self, iccid: str) -> None:
-    if self.is_comma_profile(iccid):
+    return None
-      raise LPAError("refusing to delete a comma profile")
-    with self._acquire_channel():
-      request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
-      response = es10x_command(self._client, request)
-      code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0]
-    if code != PROFILE_OK:
-      raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
 
   def download_profile(self, qr: str, nickname: str | None = None) -> None:
     return None
 
   def nickname_profile(self, iccid: str, nickname: str) -> None:
-    with self._acquire_channel():
+    return None
-      set_profile_nickname(self._client, iccid, nickname)
-
-  def _enable_profile(self, iccid: str) -> int:
-    inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
-    inner += b'\x01\x01\x01'  # refreshFlag=1
-    response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner))
-    return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0]
 
   def switch_profile(self, iccid: str) -> None:
-    with self._acquire_channel():
+    return None
-      code = self._enable_profile(iccid)
-      if code == PROFILE_CAT_BUSY:  # stale eUICC transaction, reset and retry
-        self._client._reset_modem()
-        self._client.open_isdr()
-        code = self._enable_profile(iccid)
-      if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
-        raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
-    from openpilot.system.hardware import HARDWARE
-    if HARDWARE.get_device_type() == "mici":
-      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
-      self._client._ensure_serial(reconnect=True)

system/ubloxd/ubloxd.py

@@ -365,7 +365,7 @@ class UbloxMsgParser:
     assert isinstance(s1, Glonass.String1)
     eph.p1 = int(s1.p1)
     tk = int(s1.t_k)
-    eph.deprecated.tk = tk
+    eph.tkDEPRECATED = tk
     eph.xVel = float(s1.x_vel) * math.pow(2, -20)
     eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
     eph.x = float(s1.x) * math.pow(2, -11)

system/webrtc/schema.py

@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
 
 
 def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
-  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
+  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
 
 
 def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:

tools/bodyteleop/static/index.html

@@ -15,23 +15,29 @@
   <body>
     <div id="main">
       <p class="jumbo">comma body</p>
+      <audio id="audio" autoplay="true"></audio>
       <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
-      <div class="row" style="width: 100%; padding: 10px 10px 0px 10px;">
+      <div id="icon-panel" class="row">
-        <div id="wasd" class="col-md-12 row">
+        <div class="col-sm-12 col-md-6 details">
-          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+          <div class="icon-sup-panel col-12">
-            <div class="wasd-row">
+            <div class="icon-sub-panel">
-              <div class="keys" id="key-w">W</div>
+              <div class="icon-sub-sub-panel">
+                <i class="bi bi-speaker-fill pre-blob"></i>
+                <i class="bi bi-mic-fill pre-blob"></i>
+                <i class="bi bi-camera-video-fill pre-blob"></i>
+              </div>
+              <p class="small">body</p>
             </div>
-            <div class="wasd-row">
+            <div class="icon-sub-panel">
-              <div class="keys" id="key-a">A</div>
+              <div class="icon-sub-sub-panel">
-              <div class="keys" id="key-s">S</div>
+                <i class="bi bi-speaker-fill pre-blob"></i>
-              <div class="keys" id="key-d">D</div>
+                <i class="bi bi-mic-fill pre-blob"></i>
+              </div>
+              <p class="small">you</p>
             </div>
           </div>
         </div>
-      </div>
+        <div class="col-sm-12 col-md-6 details">
-      <div id="icon-panel" class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
-        <div class="col-12 details">
           <div class="icon-sup-panel col-12">
             <div class="icon-sub-panel">
               <div class="icon-sub-sub-panel">
@@ -47,6 +53,43 @@
             </div>
           </div>
         </div>
+        <!-- <div class="icon-sub-panel">
+                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
+                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
+            </div> -->
+      </div>
+      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
+        <div id="wasd" class="col-md-12 row">
+          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+            <div class="wasd-row">
+              <div class="keys" id="key-w">W</div>
+              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
+            </div>
+            <div class="wasd-row">
+              <div class="keys" id="key-a">A</div>
+              <div class="keys" id="key-s">S</div>
+              <div class="keys" id="key-d">D</div>
+            </div>
+          </div>
+          <div class="col-md-6 col-sm-12 form-group plan-form">
+            <label for="plan-text">Plan (w, a, s, d, t)</label>
+            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
+            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
+            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
+          </div>
+        </div>
+      </div>
+      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
+        <div class="panel row">
+          <div class="col-sm-3" style="text-align: center;">
+            <p>Play Sounds</p>
+          </div>
+          <div class="btn-group col-sm-8">
+            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
+            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
+            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
+          </div>
+        </div>
       </div>
       <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
         <div class="panel row">

tools/bodyteleop/static/js/controls.js

@@ -18,3 +18,37 @@ export const handleKeyX = (key, setValue) => {
     $("#pos-vals").text(x+","+y);
   }
 };
+
+export async function executePlan() {
+  let plan = $("#plan-text").val();
+  const planList = [];
+  plan.split("\n").forEach(function(e){
+    let line = e.split(",").map(k=>parseInt(k));
+    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
+      console.log("invalid plan");
+    }
+    else{
+      planList.push(line)
+    }
+  });
+
+  async function execute() {
+    for (var i = 0; i < planList.length; i++) {
+      let [w, a, s, d, t] = planList[i];
+      while(t > 0){
+        console.log(w, a, s, d, t);
+        if(w==1){$("#key-w").mousedown();}
+        if(a==1){$("#key-a").mousedown();}
+        if(s==1){$("#key-s").mousedown();}
+        if(d==1){$("#key-d").mousedown();}
+        await sleep(50);
+        $("#key-w").mouseup();
+        $("#key-a").mouseup();
+        $("#key-s").mouseup();
+        $("#key-d").mouseup();
+        t = t - 0.05;
+      }
+    }
+  }
+  execute();
+}

tools/bodyteleop/static/js/jsmain.js

@@ -1,5 +1,5 @@
-import { handleKeyX } from "./controls.js";
+import { handleKeyX, executePlan } from "./controls.js";
-import { start, stop, lastChannelMessageTime } from "./webrtc.js";
+import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
 
 export var pc = null;
 export var dc = null;
@@ -8,6 +8,12 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
 document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
 $(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
 $(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
+$("#plan-button").click(executePlan);
+$(".sound").click((e)=>{
+  const sound = $(e.target).attr('id').replace('sound-', '')
+  return playSoundRequest(sound);
+});
+
 setInterval( () => {
   const dt = new Date().getTime();
   if ((dt - lastChannelMessageTime) > 1000) {

tools/bodyteleop/static/js/webrtc.js

@@ -15,6 +15,15 @@ export function offerRtcRequest(sdp, type) {
 }
 
 
+export function playSoundRequest(sound) {
+  return fetch('/sound', {
+    body: JSON.stringify({sound}),
+    headers: {'Content-Type': 'application/json'},
+    method: 'POST'
+  });
+}
+
+
 export function pingHeadRequest() {
   return fetch('/', {
     method: 'HEAD'
@@ -29,18 +38,20 @@ export function createPeerConnection(pc) {
 
   pc = new RTCPeerConnection(config);
 
-  // connect video
+  // connect audio / video
   pc.addEventListener('track', function(evt) {
     console.log("Adding Tracks!")
     if (evt.track.kind == 'video')
       document.getElementById('video').srcObject = evt.streams[0];
+    else
+      document.getElementById('audio').srcObject = evt.streams[0];
   });
   return pc;
 }
 
 
 export function negotiate(pc) {
-  return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
+  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
     return pc.setLocalDescription(offer);
   }).then(function() {
     return new Promise(function(resolve) {
@@ -79,6 +90,14 @@ function isMobile() {
 
 
 export const constraints = {
+  audio: {
+    autoGainControl: false,
+    sampleRate: 48000,
+    sampleSize: 16,
+    echoCancellation: true,
+    noiseSuppression: true,
+    channelCount: 1
+  },
   video: isMobile()
 };
 
@@ -86,8 +105,23 @@ export const constraints = {
 export function start(pc, dc) {
   pc = createPeerConnection(pc);
 
-  // add a local video track on mobile
+  // add audio track
-  (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
+  navigator.mediaDevices.enumerateDevices()
+    .then(function(devices) {
+      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
+      var modifiedConstraints = {};
+      modifiedConstraints.video = constraints.video;
+      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
+
+      return Promise.resolve(modifiedConstraints);
+    })
+    .then(function(constraints) {
+      if (constraints.audio || constraints.video) {
+        return navigator.mediaDevices.getUserMedia(constraints);
+      } else{
+        return Promise.resolve(null);
+      }
+    })
     .then(function(stream) {
       if (stream) {
         stream.getTracks().forEach(function(track) {

tools/bodyteleop/static/main.css

@@ -172,6 +172,13 @@ video {
   display: none;
 }
 
+.plan-form {
+  display: flex;
+  flex-direction: column;
+  justify-content: space-between;
+  align-items: center;
+}
+
 .details {
   display: flex;
   padding: 0px 10px 0px 10px;

tools/jotpluggler/browser.cc

@@ -73,7 +73,7 @@ std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &path
 }
 
 bool is_deprecated_browser_path(const std::string &path) {
-  return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
+  return path.find("DEPRECATED") != std::string::npos;
 }
 
 std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {

tools/jotpluggler/sketch_layout.cc

@@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which,
         append_can_frame(can_service,
                          static_cast<uint8_t>(msg.getSrc()),
                          msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
+                         msg.getBusTimeDEPRECATED(),
                          msg.getDat(),
                          tm,
                          series);
@@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which,
         append_can_frame(can_service,
                          static_cast<uint8_t>(msg.getSrc()),
                          msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
+                         msg.getBusTimeDEPRECATED(),
                          msg.getDat(),
                          tm,
                          series);

tools/op.sh

@@ -383,9 +383,6 @@ function op_switch() {
   git submodule update --init --recursive
   git submodule foreach git reset --hard
   git submodule foreach git clean -df
-
-  # remove openpilot update flag if present
-  rm -f .overlay_init
 }
 
 function op_start() {

tools/replay/logreader.cc

@@ -142,19 +142,18 @@ void LogReader::migrateOldEvents() {
       new_evt.setLogMonoTime(old_evt.getLogMonoTime());
       auto new_state = new_evt.initSelfdriveState();
 
-      auto old_dep = old_state.getDeprecated();
+      new_state.setActive(old_state.getActiveDEPRECATED());
-      new_state.setActive(old_dep.getActive());
+      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSize(old_dep.getAlertSize());
+      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertSound(old_dep.getAlertSound2());
+      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertStatus(old_dep.getAlertStatus());
+      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText1(old_dep.getAlertText1());
+      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertText2(old_dep.getAlertText2());
+      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setAlertType(old_dep.getAlertType());
+      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEnabled(old_dep.getEnabled());
+      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setEngageable(old_dep.getEngageable());
+      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setExperimentalMode(old_dep.getExperimentalMode());
+      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setPersonality(old_dep.getPersonality());
+      new_state.setState(old_state.getStateDEPRECATED());
-      new_state.setState(old_dep.getState());
 
       // Serialize the new event to the buffer
       auto buf_size = msg.getSerializedSize();

uv.lock

@@ -13,7 +13,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.13.5"
+version = "3.13.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -24,25 +24,25 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/50/42/32cf8e7704ceb4481406eb87161349abb46a57fee3f008ba9cb610968646/aiohttp-3.13.3.tar.gz", hash = "sha256:a949eee43d3782f2daae4f4a2819b2cb9b0c5d3b7f7a927067cc84dafdbb9f88", size = 7844556, upload-time = "2026-01-03T17:33:05.204Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/be/6f/353954c29e7dcce7cf00280a02c75f30e133c00793c7a2ed3776d7b2f426/aiohttp-3.13.5-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:023ecba036ddd840b0b19bf195bfae970083fd7024ce1ac22e9bba90464620e9", size = 748876, upload-time = "2026-03-31T21:57:36.319Z" },
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 [[package]]
@@ -371,7 +371,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#891c42d8029b2a633f3aca7f60cc7aa4b5305405" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#40e5d76de1b33a86c5181b63db6782d8f06da1da" }
 
 [[package]]
 name = "execnet"
@@ -385,7 +385,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#8261317427e81a0fa1f53a7ef77f15004ec78889" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#b9732165bcf5a3fab83b05994187802a0d115b6e" }
 
 [[package]]
 name = "fonttools"
@@ -432,7 +432,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#fd995de677db114e2862cf4ed245ca9a17536668" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#15a616d4f08f6b8ecaa9b2390c75d2fe0c0fffb8" }
 
 [[package]]
 name = "ghp-import"
@@ -449,7 +449,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#9fdbe7eb0257d7a13851ed4baa52fbccbe7e2e9d" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#f77417aad13a05b03bb2696a0b5a124f339d117b" }
 
 [[package]]
 name = "google-crc32c"
@@ -498,7 +498,7 @@ wheels = [
 [[package]]
 name = "imgui"
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-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#f3d874be2f3aa44869ffd4775e0957e986a30a68" }
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 [[package]]
 name = "zstandard"
@@ -1702,4 +1702,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#6896f3e5ea22d632c5ea3bc6e5f3b773c144f43b" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#b2b10636beba0384eada30979651b4ca7cf919ff" }