Merge branch 'upstream/master' into sync-20260425

2026-06-08 02:44:40 +08:00 · 2026-04-25 20:26:58 -04:00
parent df807f8be3 f15cc7673a
commit 9a0b62dc51
14 changed files with 176 additions and 46 deletions
--- a/.github/workflows/car_diff.yml
+++ b/.github/workflows/car_diff.yml
@@ -31,7 +31,7 @@ jobs:
        github_token: ${{ secrets.GITHUB_TOKEN }}
        workflow: tests.yml
        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        commit: ${{ github.event.pull_request.head.sha }}
        name: car_diff_${{ github.event.number }}
        path: .
        allow_forks: true
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,31 @@
+Version 0.3.1 (2026-04-22)
+========================
+* Ship DBCs, capnp schemas, and torque data in the wheel
+
+Version 0.3.0 (2026-04-22)
+========================
+* Supported car count: 345 → 397
+* Tesla Model 3, Model Y, and Model X (HW3 and HW4) support thanks to lukasloetkolben and greatgitsby!
+* Rivian R1S and R1T (Gen 1 and Gen 2) support thanks to lukasloetkolben!
+* Porsche Macan and Audi Q5 (VW MLB) support thanks to jyoung8607 and Dennis-NL!
+* VW MEB (ID.x) architecture support thanks to jyoung8607!
+* PSA AEE2010_R3 platform support thanks to elkoled!
+* Honda Accord 2023-25, CR-V 2023-25, Pilot 2023-25, Passport 2026, and Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+* Acura TLX 2021 support thanks to MVL!
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
+* Ford Escape 2023-24 and Kuga 2024 support thanks to incognitojam!
+* Hyundai Nexo 2021 support thanks to sunnyhaibin!
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Lexus RC 2023 support thanks to nelsonjchen!
+* CANParser and CANPacker rewritten in pure Python — the installed package is pure Python, no compilation required
+* Safety code, `isotp.py`/`ccp.py`/`xcp.py`, and `vehicle_model.py` moved into opendbc from panda/openpilot — opendbc is now the self-contained car API package
+* `mull` replaced with a faster custom mutation test runner
+* Safety hardening: per-brand message-block config, missing RX checks, relay-malfunction config
+
 Version 0.2.1 (2025-02-10)
 ========================
 * Fix missing files making car/ package not importable
--- a/opendbc/can/tests/test_define.py
+++ b/opendbc/can/tests/test_define.py
@@ -1,8 +1,10 @@
+import unittest
+
 from opendbc.can import CANDefine
 from opendbc.can.tests import ALL_DBCS


-class TestCANDefine:
+class TestCANDefine(unittest.TestCase):
  def test_civic(self):

    dbc_file = "honda_civic_touring_2016_can_generated"
@@ -20,8 +22,8 @@ class TestCANDefine:
                             0: 'NORMAL'}
                            }

-  def test_all_dbcs(self, subtests):
+  def test_all_dbcs(self):
    # Asserts no exceptions on all DBCs
    for dbc in ALL_DBCS:
-      with subtests.test(dbc=dbc):
+      with self.subTest(dbc=dbc):
        CANDefine(dbc)
--- a/opendbc/car/honda/tests/test_honda.py
+++ b/opendbc/car/honda/tests/test_honda.py
@@ -1,4 +1,5 @@
 import re
+import unittest

 from opendbc.car.honda.fingerprints import FW_VERSIONS
 from opendbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL
@@ -6,7 +7,7 @@ from opendbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL
 HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}(-|,)[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"


-class TestHondaFingerprint:
+class TestHondaFingerprint(unittest.TestCase):
  def test_fw_version_format(self):
    # Asserts all FW versions follow an expected format
    for fw_by_ecu in FW_VERSIONS.values():
--- a/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc/car/hyundai/carcontroller.py
@@ -23,6 +23,12 @@ MAX_ANGLE = 85
 MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2

+# On some HKG CAN and CAN FD non-CANFD_ALT_BUTTONS, the cancel button (CF_Clu_CruiseSwState / CRUISE_BUTTONS = 4) is
+# a pause/resume toggle, not a dedicated cancel. Firing it mid-brake inadvertently can cause a re-enable attempt
+# and triggers the "SCC Conditions Not Met" alert. Delaying the button send lets factory SCC disengage
+# naturally on brake press. We send ~100 ms later if it fails to do so, or if we want to cancel for another reason.
+CANCEL_BUTTON_DELAY_FRAMES = 10
+

 def process_hud_alert(enabled, fingerprint, hud_control):
  sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
@@ -66,6 +72,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    self.apply_torque_last = 0
    self.car_fingerprint = CP.carFingerprint
    self.last_button_frame = 0
+    self.cancel_counter = 0

  def update(self, CC, CC_SP, CS, now_nanos):
    EsccCarController.update(self, CS)
@@ -113,6 +120,10 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
      if self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))

+    # Delay the cancel button send so the brake can disengage factory SCC first.
+    # Reset whenever openpilot is no longer requesting cancel.
+    self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+
    # *** CAN/CAN FD specific ***
    if self.CP.flags & HyundaiFlags.CANFD:
      can_sends.extend(self.create_canfd_msgs(apply_steer_req, apply_torque, set_speed_in_units, accel,
@@ -151,7 +162,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,

    # Button messages
    if not self.CP.openpilotLongitudinalControl:
-      if CC.cruiseControl.cancel:
+      if self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
      elif CC.cruiseControl.resume:
        # send resume at a max freq of 10Hz
@@ -220,10 +231,11 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
        # cruise cancel
        if CC.cruiseControl.cancel:
+          # Here we send ACC message to cancel, not buttons. Don't delay
          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
            self.last_button_frame = self.frame
-          else:
+          elif self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
            for _ in range(20):
              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.CANCEL))
            self.last_button_frame = self.frame
--- a/opendbc/car/rivian/tests/test_rivian.py
+++ b/opendbc/car/rivian/tests/test_rivian.py
@@ -1,11 +1,13 @@
+import unittest
+
 from opendbc.car.rivian.fingerprints import FW_VERSIONS
 from opendbc.car.rivian.values import CAR, FW_QUERY_CONFIG, WMI, ModelLine, ModelYear


-class TestRivian:
-  def test_custom_fuzzy_fingerprinting(self, subtests):
+class TestRivian(unittest.TestCase):
+  def test_custom_fuzzy_fingerprinting(self):
    for platform in CAR:
-      with subtests.test(platform=platform.name):
+      with self.subTest(platform=platform.name):
        for wmi in WMI:
          for line in ModelLine:
            for year in ModelYear:
--- a/opendbc/car/subaru/tests/test_subaru.py
+++ b/opendbc/car/subaru/tests/test_subaru.py
@@ -1,7 +1,9 @@
+import unittest
+
 from opendbc.car.subaru.fingerprints import FW_VERSIONS


-class TestSubaruFingerprint:
+class TestSubaruFingerprint(unittest.TestCase):
  def test_fw_version_format(self):
    for platform, fws_per_ecu in FW_VERSIONS.items():
      for (ecu, _, _), fws in fws_per_ecu.items():
--- a/opendbc/car/tesla/fingerprints.py
+++ b/opendbc/car/tesla/fingerprints.py
@@ -12,6 +12,7 @@ FW_VERSIONS = {
      b'TeM3_E014p10_0.0.0 (16),E014.17.00',
      b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
      b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
+      b'TeM3_E014p10_0.0.0 (24),E014.20.2',
      b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
      b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
      b'TeMYG4_Legacy3Y_0.0.0 (2),E4015.02.0',
@@ -24,12 +25,14 @@ FW_VERSIONS = {
      b'TeMYG4_Main_0.0.0 (77),E4HP015.04.5',
      b'TeMYG4_Main_0.0.0 (78),E4HP015.05.0',
      b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
+      b'TeMYG4_Main_0.0.0 (78),E4H015.05.0',
    ],
  },
  CAR.TESLA_MODEL_Y: {
    (Ecu.eps, 0x730, None): [
      b'TeM3_E014p10_0.0.0 (16),Y002.18.00',
      b'TeM3_E014p10_0.0.0 (16),YP002.18.00',
+      b'TeM3_E014p10_0.0.0 (24),YP002.21.2',
      b'TeM3_ES014p11_0.0.0 (16),YS002.17',
      b'TeM3_ES014p11_0.0.0 (25),YS002.19.0',
      b'TeMYG4_DCS_Update_0.0.0 (13),Y4002.27.1',
--- a/opendbc/car/tesla/tests/test_tesla.py
+++ b/opendbc/car/tesla/tests/test_tesla.py
@@ -1,3 +1,6 @@
+import re
+import unittest
+
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.tesla.interface import CarInterface
@@ -7,23 +10,80 @@ from opendbc.car.tesla.values import CAR, FSD_14_FW

 Ecu = CarParams.Ecu

+# Fields prefixed unknown_* we observe structurally but don't know the meaning of.
+# Only `platform` has evidence-backed semantic meaning (matches car_model in FW_VERSIONS).
+#
+# unknown_prefix is everything before the comma; we don't split it because we don't know what its
+# parts mean, but observed shape is: <family>_<package>_<triplet> (<build>), e.g.
+#   TeMYG4 _ Main     _ 0.0.0 (78)     or     TeM3 _ SP_XP002p2 _ 0.0.0 (23)
+#   family   package    triplet build           family  package    triplet build
+#
+# After the comma, the version string decomposes into:
+#   platform             : E/Y/X = car model (Model 3 / Y / X). The only field with known meaning.
+#   variant_code         : differentiator WITHIN a platform — hardware/trim/calibration bits packed
+#                          into <digit?><letters?><3-digit series>, e.g. '4HP015', '4003', 'L014',
+#                          'PR003'. We don't fully know what the parts mean individually, but the
+#                          whole string identifies a specific variant within the car model.
+#   software_major/minor : numeric components after the first '.' — conventional release numbers.
+#                          minor is optional (e.g. 'E4S014.27' has no minor).
+#
+# Suspected (not confirmed): for M3/MY, `TeM3_*` outer + no-leading-digit variant_code == HW3, and
+# `TeMYG4_*` outer + leading-'4' variant_code == HW4 (the 'G4' in TeMYG4 likely denotes Gen 4).
+#
+# Example full parse of 'TeMYG4_Main_0.0.0 (78),E4HP015.05.0':
+#   unknown_prefix='TeMYG4_Main_0.0.0 (78)'
+#   platform=E  variant_code=4HP015  software_major=05  software_minor=0
+FW_RE = re.compile(
+  rb'^(?P<unknown_prefix>.+),' +
+  rb'(?P<platform>[EYX])' +
+  rb'(?P<variant_code>\d?[A-Z]*\d{3})' +
+  rb'\.(?P<software_major>\d+)' +
+  rb'(?:\.(?P<software_minor>\d+))?$'
+)

-class TestTeslaFingerprint:
-  def test_fsd_14_fw(self):
+PLATFORM_TO_CAR = {
+  b'E': CAR.TESLA_MODEL_3,
+  b'Y': CAR.TESLA_MODEL_Y,
+  b'X': CAR.TESLA_MODEL_X,
+}
+
+# Hypothesized FSD 14 profile, in terms of variant_code bookends (given software_major >= 4):
+#   M3: variant_code starts with '4H',  ends with '015'
+#   MY: variant_code starts with '4',   ends with '003'
+# Older series (M3 '014', MY '002') are never FSD 14.
+FSD_14_FW_RULE = {
+  CAR.TESLA_MODEL_3: (b'4H', b'015'),
+  CAR.TESLA_MODEL_Y: (b'4',  b'003'),
+}
+
+
+class TestTeslaFingerprint(unittest.TestCase):
+  def test_fw_platform_code(self):
+    # Every EPS FW must parse and its platform letter must match the car it's filed under.
    for car_model, ecus in FW_VERSIONS.items():
      for fw in ecus.get((Ecu.eps, 0x730, None), []):
-        _, _, version = fw.partition(b',')
-        is_fsd_14 = fw in FSD_14_FW.get(car_model, [])
+        m = FW_RE.match(fw)

-        if car_model == CAR.TESLA_MODEL_3:
-          # Model 3: FSD 14 FW has 'P' in the Highland suffix (E4HP vs E4H)
-          assert is_fsd_14 == version.startswith(b'E4HP'), f"{fw}"
-        elif car_model == CAR.TESLA_MODEL_Y:
-          # Model Y: FSD 14 FW is Y4x version >= 003.04
-          prefix, _, ver = version.partition(b'.')
-          y4_003 = prefix.startswith(b'Y4') and prefix.endswith(b'003')  # Y4=HW4, 003=version series (002 is never FSD 14)
-          high_version = y4_003 and int(ver.split(b'.')[0]) >= 4
-          assert is_fsd_14 == high_version, f"{fw}"
+        assert m is not None, f"Unparsable FW: {fw}"
+        assert PLATFORM_TO_CAR[m['platform']] == car_model, f"Platform letter {m['platform']!r} != {car_model.value}: {fw}"
+
+  def test_fsd_14_fw(self):
+    for car_model, ecus in FW_VERSIONS.items():
+      if car_model not in FSD_14_FW_RULE:
+        continue
+
+      variant_prefix, variant_suffix = FSD_14_FW_RULE[car_model]
+      for fw in ecus.get((Ecu.eps, 0x730, None), []):
+        m = FW_RE.match(fw)
+        assert m is not None, f"Unparsable FW: {fw}"
+
+        is_fsd_14 = fw in FSD_14_FW.get(car_model, [])
+        expected = (
+          m['variant_code'].startswith(variant_prefix)
+          and m['variant_code'].endswith(variant_suffix)
+          and int(m['software_major']) >= 4
+        )
+        assert is_fsd_14 == expected, f"{fw}"

  def test_radar_detection(self):
    # Test radar availability detection for cars with radar DBC defined
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -85,6 +85,7 @@ FSD_14_FW = {
    b'TeMYG4_Main_0.0.0 (77),E4HP015.04.5',
    b'TeMYG4_Main_0.0.0 (78),E4HP015.05.0',
    b'TeMYG4_Main_0.0.0 (77),E4H015.04.5',
+    b'TeMYG4_Main_0.0.0 (78),E4H015.05.0',
  ],
  CAR.TESLA_MODEL_Y: [
    b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
--- a/opendbc/car/toyota/tests/test_toyota.py
+++ b/opendbc/car/toyota/tests/test_toyota.py
@@ -1,3 +1,5 @@
+import unittest
+
 from hypothesis import given, settings, strategies as st

 from opendbc.car import Bus
@@ -16,7 +18,7 @@ def check_fw_version(fw_version: bytes) -> bool:
  return b'?' not in fw_version and b'!' not in fw_version


-class TestToyotaInterfaces:
+class TestToyotaInterfaces(unittest.TestCase):
  def test_car_sets(self):
    assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0
    assert len(RADAR_ACC_CAR - TSS2_CAR) == 0
@@ -32,11 +34,11 @@ class TestToyotaInterfaces:
      if car_model in TSS2_CAR and car_model not in SECOC_CAR:
        assert dbc[Bus.pt] == "toyota_nodsu_pt_generated"

-  def test_essential_ecus(self, subtests):
+  def test_essential_ecus(self):
    # Asserts standard ECUs exist for each platform
    common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
+      with self.subTest(car_model=car_model.value):
        present_ecus = {ecu[0] for ecu in ecus}
        missing_ecus = common_ecus - present_ecus
        assert len(missing_ecus) == 0
@@ -52,19 +54,19 @@ class TestToyotaInterfaces:
          assert Ecu.eps in present_ecus


-class TestToyotaFingerprint:
-  def test_non_essential_ecus(self, subtests):
+class TestToyotaFingerprint(unittest.TestCase):
+  def test_non_essential_ecus(self):
    # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
+      with self.subTest(car_model=car_model.value):
        engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
        assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \
          f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list"

-  def test_valid_fw_versions(self, subtests):
+  def test_valid_fw_versions(self):
    # Asserts all FW versions are valid
    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
+      with self.subTest(car_model=car_model.value):
        for fws in ecus.values():
          for fw in fws:
            assert check_fw_version(fw), fw
@@ -78,10 +80,10 @@ class TestToyotaFingerprint:
    fws = data.draw(fw_strategy)
    get_platform_codes(fws)

-  def test_platform_code_ecus_available(self, subtests):
+  def test_platform_code_ecus_available(self):
    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
+      with self.subTest(car_model=car_model.value):
        for platform_code_ecu in PLATFORM_CODE_ECUS:
          if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
            continue
@@ -89,14 +91,14 @@ class TestToyotaFingerprint:
            continue
          assert platform_code_ecu in [e[0] for e in ecus]

-  def test_fw_format(self, subtests):
+  def test_fw_format(self):
    # Asserts:
    # - every supported ECU FW version returns one platform code
    # - every supported ECU FW version has a part number
    # - expected parsing of ECU sub-versions

    for car_model, ecus in FW_VERSIONS.items():
-      with subtests.test(car_model=car_model.value):
+      with self.subTest(car_model=car_model.value):
        for ecu, fws in ecus.items():
          if ecu[0] not in PLATFORM_CODE_ECUS:
            continue
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "opendbc"
-version = "0.2.1"
+version = "0.3.1"
 description = "a Python API for your car"
 license = "MIT"
 authors = [{ name = "Vehicle Researcher", email = "user@comma.ai" }]
@@ -18,7 +18,6 @@ dependencies = [

 [project.optional-dependencies]
 testing = [
-  "comma-car-segments @ https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl",
  "cffi",
  "tree-sitter",
  "tree-sitter-c",
@@ -33,7 +32,6 @@ testing = [
  "lefthook",
  "cpplint",
  "codespell",
-  "cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck",
 ]
 docs = [
  "Jinja2",
@@ -42,6 +40,15 @@ examples = [
  "inputs",
 ]

+# Dependency groups (PEP 735) are not included in the published wheel.
+# Direct URL dependencies must live here because PyPI rejects uploads whose
+# `Requires-Dist` contains direct URLs.
+[dependency-groups]
+testing = [
+  "comma-car-segments @ https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl",
+  "cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck",
+]
+
 [build-system]
 requires = ["setuptools"]
 build-backend = "setuptools.build_meta"
@@ -127,4 +134,6 @@ too-many-positional-arguments = "ignore"
 include-package-data = true

 [tool.setuptools.package-data]
-"opendbc.safety" = ["*.h", "board/*.h", "board/drivers/*.h", "modes/*.h"]
+"opendbc.car" = ["**/*.capnp", "**/*.toml"]
+"opendbc.dbc" = ["**/*.dbc"]
+"opendbc.safety" = ["*.h", "modes/*.h"]
--- a/setup.sh
+++ b/setup.sh
@@ -18,5 +18,5 @@ if ! command -v uv &>/dev/null; then
 fi

 export UV_PROJECT_ENVIRONMENT="$BASEDIR/.venv"
-uv sync --all-extras --inexact
+uv sync --all-extras --all-groups --inexact
 source "$PYTHONPATH/.venv/bin/activate"
--- a/uv.lock
+++ b/uv.lock
@@ -382,7 +382,7 @@ wheels = [

 [[package]]
 name = "opendbc"
-version = "0.2.1"
+version = "0.3.1"
 source = { editable = "." }
 dependencies = [
    { name = "numpy" },
@@ -401,8 +401,6 @@ examples = [
 testing = [
    { name = "cffi" },
    { name = "codespell" },
-    { name = "comma-car-segments" },
-    { name = "cppcheck" },
    { name = "cpplint" },
    { name = "gcovr" },
    { name = "hypothesis" },
@@ -415,12 +413,16 @@ testing = [
    { name = "zstandard" },
 ]

+[package.dev-dependencies]
+testing = [
+    { name = "comma-car-segments" },
+    { name = "cppcheck" },
+]
+
 [package.metadata]
 requires-dist = [
    { name = "cffi", marker = "extra == 'testing'" },
    { name = "codespell", marker = "extra == 'testing'" },
-    { name = "comma-car-segments", marker = "extra == 'testing'", url = "https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl" },
-    { name = "cppcheck", marker = "extra == 'testing'", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
    { name = "cpplint", marker = "extra == 'testing'" },
    { name = "gcovr", marker = "extra == 'testing'" },
    { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
@@ -440,6 +442,12 @@ requires-dist = [
 ]
 provides-extras = ["testing", "docs", "examples"]

+[package.metadata.requires-dev]
+testing = [
+    { name = "comma-car-segments", url = "https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl" },
+    { name = "cppcheck", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
+]
+
 [[package]]
 name = "pycapnp"
 version = "2.1.0"