Merge remote-tracking branch 'comma/master' into sync-20250309

# Conflicts: # .github/workflows/ui_preview.yaml # common/params_keys.h # msgq_repo # opendbc_repo # panda # selfdrive/ui/qt/offroad/firehose.h # selfdrive/ui/tests/test_ui/run.py # system/manager/process_config.py
2026-08-23 01:13:44 +08:00 · 2025-03-09 14:53:03 +01:00
parent bc65c8bef7 b98e10acc1
commit a4ef5ad982
119 changed files with 1382 additions and 1337 deletions
@@ -1,7 +1,7 @@
 #!/usr/bin/env expect
 spawn adb shell
 expect "#"
-send "cd usr/comma\r"
+send "cd data/openpilot\r"
 send "export TERM=xterm-256color\r"
 send "su comma\r"
 send "clear\r"
@@ -7,7 +7,7 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.values import PLATFORMS


-def generate_dbc_json() -> str:
+def generate_dbc_dict() -> dict[str, str]:
  dbc_map = {}
  for platform in PLATFORMS.values():
    if platform != "MOCK":
@@ -24,7 +24,7 @@ def generate_dbc_json() -> str:
    if MIGRATION[m] in dbc_map:
      dbc_map[m] = dbc_map[MIGRATION[m]]

-  return json.dumps(dict(sorted(dbc_map.items())), indent=2)
+  return dbc_map


 if __name__ == "__main__":
@@ -35,5 +35,5 @@ if __name__ == "__main__":
  args = parser.parse_args()

  with open(args.out, 'w') as f:
-    f.write(generate_dbc_json())
+    f.write(json.dumps(dict(sorted(generate_dbc_dict().items())), indent=2))
  print(f"Generated and written to {args.out}")
@@ -57,7 +57,21 @@ Traceback (most recent call last):
 AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
 ```

-### [tools/car_porting/examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
+## Jupyter notebooks
+
+To use these notebooks, install Jupyter within your [openpilot virtual environment](/tools/README.md).
+
+```bash
+uv pip install jupyter ipykernel
+```
+
+Launching:
+
+```bash
+jupyter notebook
+```
+
+### [examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)

 An example of searching through a database of segments for a specific condition, and plotting the results.

@@ -65,7 +79,7 @@ An example of searching through a database of segments for a specific condition,

 *a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change*

-### [tools/car_porting/examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)
+### [examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)

 An example of plotting the response of an actuator when it is active.

@@ -73,7 +87,7 @@ An example of plotting the response of an actuator when it is active.

 *a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*

-### [tools/car_porting/examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
+### [examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)

 In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.

@@ -94,3 +108,22 @@ vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determi
 vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
 vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
 ```
+
+### [examples/find_segments_with_message.ipynb](/tools/car_porting/examples/find_segments_with_message.ipynb)
+
+Searches for segments where a set of given CAN message IDs are present. In the example, we search for all messages
+used for CAN-based ignition detection.
+
+```
+Match found: 46b21f1c5f7aa885/2024-01-23--15-19-34/20/s    JEEP GRAND CHEROKEE V6 2018            ['VW CAN Ign']
+Match found: a63a23c3e628f288/2023-11-05--18-36-20/8/s     JEEP GRAND CHEROKEE V6 2018            ['VW CAN Ign']
+Match found: ce31b7a998781ba8/2024-01-19--07-05-29/23/s    JEEP GRAND CHEROKEE 2019               ['VW CAN Ign']
+Match found: e1dfba62a4e33f7b/2023-12-25--19-31-00/4/s     JEEP GRAND CHEROKEE 2019               ['VW CAN Ign']
+Match found: e1dfba62a4e33f7b/2024-01-10--14-33-57/2/s     JEEP GRAND CHEROKEE 2019               ['VW CAN Ign']
+Match found: ae679616266f4096/2023-12-05--15-43-46/4/s     RAM HD 5TH GEN                         ['Tesla 3/Y CAN Ign']
+Match found: ae679616266f4096/2023-11-18--17-49-42/3/s     RAM HD 5TH GEN                         ['Tesla 3/Y CAN Ign']
+Match found: ae679616266f4096/2024-01-03--21-57-09/25/s    RAM HD 5TH GEN                         ['Tesla 3/Y CAN Ign']
+Match found: 6dae2984cc53cd7f/2023-12-10--11-53-15/17/s    FORD BRONCO SPORT 1ST GEN              ['Rivian CAN Ign']
+Match found: 6dae2984cc53cd7f/2023-12-03--17-31-17/29/s    FORD BRONCO SPORT 1ST GEN              ['Rivian CAN Ign']
+Match found: 6dae2984cc53cd7f/2023-11-27--23-29-07/1/s     FORD BRONCO SPORT 1ST GEN              ['Rivian CAN Ign']
+```
@@ -0,0 +1,232 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 85,
+   "id": "facb8edc-9924-491a-a4dd-fe6135b0c6c4",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Import all cars from opendbc\n",
+    "\n",
+    "from opendbc.car import structs\n",
+    "from opendbc.car.values import PLATFORMS as TEST_PLATFORMS\n",
+    "\n",
+    "# Example: add additional platforms/segments to test outside of commaCarSegments\n",
+    "\n",
+    "EXTRA_SEGMENTS = {\n",
+    "  # \"81dd9e9fe256c397/0000001f--97c42cf98d\",  # Volkswagen ID.4 test route, new car port, not in public dataset\n",
+    "}"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 86,
+   "id": "ed1c8aec-c274-4c61-b83d-711ea194bf86",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Searching 221 platforms\n",
+      "No segments available for DODGE_DURANGO\n",
+      "No segments available for FORD_RANGER_MK2\n",
+      "No segments available for HOLDEN_ASTRA\n",
+      "No segments available for CADILLAC_ATS\n",
+      "No segments available for CHEVROLET_MALIBU\n",
+      "No segments available for CADILLAC_XT4\n",
+      "No segments available for CHEVROLET_VOLT_2019\n",
+      "No segments available for CHEVROLET_TRAVERSE\n",
+      "No segments available for GMC_YUKON\n",
+      "No segments available for HONDA_ODYSSEY_CHN\n",
+      "No segments available for HYUNDAI_KONA_2022\n",
+      "No segments available for HYUNDAI_NEXO_1ST_GEN\n",
+      "No segments available for GENESIS_GV70_ELECTRIFIED_1ST_GEN\n",
+      "No segments available for GENESIS_G80_2ND_GEN_FL\n",
+      "No segments available for RIVIAN_R1_GEN1\n",
+      "No segments available for SUBARU_FORESTER_HYBRID\n",
+      "No segments available for TESLA_MODEL_3\n",
+      "No segments available for TESLA_MODEL_Y\n",
+      "No segments available for TOYOTA_RAV4_PRIME\n",
+      "No segments available for TOYOTA_SIENNA_4TH_GEN\n",
+      "No segments available for LEXUS_LC_TSS2\n",
+      "No segments available for VOLKSWAGEN_CADDY_MK3\n",
+      "No segments available for VOLKSWAGEN_CRAFTER_MK2\n",
+      "No segments available for VOLKSWAGEN_JETTA_MK6\n",
+      "Searching 577 segments\n"
+     ]
+    }
+   ],
+   "source": [
+    "import random\n",
+    "\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
+    "\n",
+    "\n",
+    "MAX_SEGS_PER_PLATFORM = 3  # Increase this to search more segments\n",
+    "\n",
+    "database = get_comma_car_segments_database()\n",
+    "TEST_SEGMENTS = []\n",
+    "\n",
+    "print(f\"Searching {len(TEST_PLATFORMS)} platforms\")\n",
+    "\n",
+    "for platform in TEST_PLATFORMS:\n",
+    "  if platform not in database:\n",
+    "    print(f\"No segments available for {platform}\")\n",
+    "    continue\n",
+    "  \n",
+    "  all_segments = database[platform]\n",
+    "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
+    "  TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n",
+    "\n",
+    "TEST_SEGMENTS.extend(EXTRA_SEGMENTS)\n",
+    "\n",
+    "print(f\"Searching {len(TEST_SEGMENTS)} segments\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "27a243c33de44498b2b946190df44b23",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "segments searched:   0%|          | 0/577 [00:00<?, ?it/s]"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Match found: 0f53b336851e1384/2023-11-20--09-44-03/12/s    CHRYSLER PACIFICA HYBRID 2018          ['VW CAN Ign']\n",
+      "Match found: 7620ad20d3cefc64/2023-10-28--08-14-40/3/s     CHRYSLER PACIFICA HYBRID 2018          ['VW CAN Ign']\n",
+      "Match found: 00d247a9bb1f9196/2023-11-06--13-33-17/9/s     CHRYSLER PACIFICA HYBRID 2018          ['VW CAN Ign']\n",
+      "Match found: 120a432f63cb0de2/2023-10-30--20-01-34/1/s     CHRYSLER PACIFICA HYBRID 2019          ['VW CAN Ign']\n",
+      "Match found: b70b56b76a6217f2/2023-12-19--08-30-22/35/s    CHRYSLER PACIFICA HYBRID 2019          ['VW CAN Ign']\n",
+      "Match found: 97e388680a6716ed/2024-01-17--10-15-13/9/s     CHRYSLER PACIFICA HYBRID 2019          ['VW CAN Ign']\n",
+      "Match found: 2137b01aa0ca63f9/2024-01-06--22-06-14/70/s    CHRYSLER PACIFICA 2018                 ['VW CAN Ign']\n",
+      "Match found: 8fc6a1b72c8b1357/2023-11-06--07-50-05/8/s     CHRYSLER PACIFICA 2018                 ['VW CAN Ign']\n",
+      "Match found: 7e705eb5c27a49cc/2024-01-18--16-51-20/3/s     CHRYSLER PACIFICA 2018                 ['VW CAN Ign']\n",
+      "Match found: 12208e5acdc97eb3/2024-01-20--14-46-24/12/s    CHRYSLER PACIFICA 2020                 ['VW CAN Ign']\n",
+      "Match found: 12208e5acdc97eb3/2023-11-30--12-01-09/2/s     CHRYSLER PACIFICA 2020                 ['VW CAN Ign']\n",
+      "Match found: 9cad19e0efce3650/2024-01-26--10-24-52/27/s    CHRYSLER PACIFICA 2020                 ['VW CAN Ign']\n",
+      "Match found: 9db428338427dec2/2023-11-05--18-40-09/21/s    JEEP GRAND CHEROKEE V6 2018            ['VW CAN Ign']\n",
+      "Match found: d50ada8ee55a5e74/2023-12-11--13-38-09/0/s     JEEP GRAND CHEROKEE V6 2018            ['VW CAN Ign']\n",
+      "Match found: 900dfa83b4addfe6/2023-12-30--19-20-08/28/s    JEEP GRAND CHEROKEE V6 2018            ['VW CAN Ign']\n",
+      "Match found: 20acda0eb23d7f23/2024-01-19--17-33-26/41/s    JEEP GRAND CHEROKEE 2019               ['VW CAN Ign']\n",
+      "Match found: 1cc3b46843cad2ca/2024-01-10--20-20-54/24/s    JEEP GRAND CHEROKEE 2019               ['VW CAN Ign']\n",
+      "Match found: 2d9b6425552c52c1/2023-12-07--10-31-46/22/s    JEEP GRAND CHEROKEE 2019               ['VW CAN Ign']\n",
+      "Match found: ae679616266f4096/2023-12-04--13-13-56/16/s    RAM HD 5TH GEN                         ['Tesla 3/Y CAN Ign']\n",
+      "Match found: ae679616266f4096/2024-01-08--07-58-12/65/s    RAM HD 5TH GEN                         ['Tesla 3/Y CAN Ign']\n",
+      "Match found: ae679616266f4096/2023-12-05--15-43-46/25/s    RAM HD 5TH GEN                         ['Tesla 3/Y CAN Ign']\n",
+      "Match found: 6dae2984cc53cd7f/2024-01-09--21-41-11/4/s     FORD BRONCO SPORT 1ST GEN              ['Rivian CAN Ign']\n",
+      "Match found: 440a155809ba2b6d/2023-12-30--08-51-53/2/s     FORD BRONCO SPORT 1ST GEN              ['Rivian CAN Ign']\n",
+      "Match found: 6dae2984cc53cd7f/2024-01-06--10-11-07/1/s     FORD BRONCO SPORT 1ST GEN              ['Rivian CAN Ign']\n",
+      "Match found: a4218e6416dfd978/2023-11-27--13-48-46/19/s    FORD ESCAPE 4TH GEN                    ['Rivian CAN Ign']\n",
+      "Match found: a4218e6416dfd978/2023-11-10--14-13-14/0/s     FORD ESCAPE 4TH GEN                    ['Rivian CAN Ign']\n",
+      "Match found: a4218e6416dfd978/2023-11-27--13-48-46/4/s     FORD ESCAPE 4TH GEN                    ['Rivian CAN Ign']\n",
+      "Match found: 8a732841c3a8d5ef/2023-12-10--19-02-33/3/s     FORD EXPLORER 6TH GEN                  ['Rivian CAN Ign']\n",
+      "Match found: 0b91b433b9332780/2023-12-28--14-02-49/4/s     FORD EXPLORER 6TH GEN                  ['Rivian CAN Ign']\n",
+      "Match found: 8a732841c3a8d5ef/2023-11-09--07-28-12/1/s     FORD EXPLORER 6TH GEN                  ['Rivian CAN Ign']\n",
+      "Match found: e886087f430e7fe7/2023-11-05--19-59-40/59/s    FORD FOCUS 4TH GEN                     ['Rivian CAN Ign']\n",
+      "Match found: e886087f430e7fe7/2023-11-05--19-59-40/82/s    FORD FOCUS 4TH GEN                     ['Rivian CAN Ign']\n",
+      "Match found: e886087f430e7fe7/2023-11-05--19-59-40/106/s   FORD FOCUS 4TH GEN                     ['Rivian CAN Ign']\n"
+     ]
+    }
+   ],
+   "source": [
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from tqdm.notebook import tqdm, tnrange\n",
+    "\n",
+    "# Example search for CAN ignition messages\n",
+    "# Be careful when filtering by bus, account for odd harness arrangements on Honda/HKG\n",
+    "\n",
+    "BUSES_TO_SEARCH = [0, 1, 2]\n",
+    "\n",
+    "# Support for external Red Panda\n",
+    "EXTERNAL_PANDA_BUSES = [bus + 4 for bus in BUSES_TO_SEARCH]\n",
+    "\n",
+    "MESSAGES_TO_FIND = {\n",
+    "  0x1F1: \"GM CAN Ign\",\n",
+    "  0x152: \"Rivian CAN Ign\",\n",
+    "  0x221: \"Tesla 3/Y CAN Ign\",\n",
+    "  0x9E:  \"Mazda CAN Ign\",\n",
+    "  0x3C0: \"VW CAN Ign\",\n",
+    "}\n",
+    "\n",
+    "progress_bar = tnrange(len(TEST_SEGMENTS), desc=\"segments searched\")\n",
+    "\n",
+    "for segment in TEST_SEGMENTS:\n",
+    "  lr = LogReader(segment)\n",
+    "  CP = lr.first(\"carParams\")\n",
+    "  if CP is None:\n",
+    "    progress_bar.update()\n",
+    "    continue\n",
+    "\n",
+    "  can_packets = [msg for msg in lr if msg.which() == \"can\"]\n",
+    "  matched_messages = set()\n",
+    "\n",
+    "  for packet in can_packets:\n",
+    "    for msg in packet.can:\n",
+    "      if msg.address in MESSAGES_TO_FIND and msg.src in (BUSES_TO_SEARCH + EXTERNAL_PANDA_BUSES):\n",
+    "        # print(msg)\n",
+    "        matched_messages.add(msg.address)\n",
+    "\n",
+    "  if len(matched_messages) > 0:\n",
+    "    message_names = [MESSAGES_TO_FIND[message] for message in matched_messages]\n",
+    "    print(f\"Match found: {segment:<45} {CP.carFingerprint:<38} {message_names}\")\n",
+    "\n",
+    "  progress_bar.update()\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "7724dd97-f62e-4fd3-9f64-63d49be669d2",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "9f393e00-8efd-40fb-a41e-d312531a83e8",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.0"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
@@ -13,6 +13,7 @@ from functools import partial
 from opendbc.car.fingerprints import MIGRATION
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
+from openpilot.tools.cabana.dbc.generate_dbc_json import generate_dbc_dict
 from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 from openpilot.selfdrive.test.process_replay.migration import migrate_all

@@ -75,7 +76,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl


 def process(can, lr):
-  return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
+  return [d for d in lr if can or d.which() not in ['can', 'sendcan'] and not d.which().startswith('customReserved')]


 def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
@@ -90,11 +91,10 @@ def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
  if dbc is None:
    try:
      CP = lr.first('carParams')
-      platform = CP.carFingerprint
-      DBC = __import__(f"opendbc.car.{CP.brand}.values", fromlist=['DBC']).DBC
-      dbc = DBC[MIGRATION.get(CP.carFingerprint, CP.carFingerprint)]['pt']
+      platform = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
+      dbc = generate_dbc_dict()[platform]
    except Exception:
-      cloudlog.error("Failed to get DBC name from logs!")
+      cloudlog.exception("Failed to get DBC name from logs!")

  with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
    save_log(tmp.name, all_data, compress=False)
@@ -24,7 +24,7 @@
       <range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
       <limitY/>
       <curve color="#0097ff" name="/carState/steeringPressed"/>
-       <curve color="#d62728" name="/carOutput/actuatorsOutput/steer"/>
+       <curve color="#d62728" name="/carOutput/actuatorsOutput/torque"/>
      </plot>
     </DockArea>
     <DockArea name="...">
@@ -24,8 +24,8 @@
      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
       <limitY/>
-       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
-        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
+        <transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
         <options value_scale="-1" time_offset="0" value_offset="0"/>
        </transform>
       </curve>
@@ -114,8 +114,8 @@
      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
       <limitY/>
-       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
-        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
+        <transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
        </transform>
       </curve>
@@ -58,8 +58,8 @@ Mock openpilot components by publishing logged messages.

 Options:
  -h, --help             Displays this help.
-  -a, --allow <allow>    whitelist of services to send
-  -b, --block <block>    blacklist of services to send
+  -a, --allow <allow>    whitelist of services to send (comma-separated)
+  -b, --block <block>    blacklist of services to send (comma-separated)
  -c, --cache <n>        cache <n> segments in memory. default is 5
  -s, --start <seconds>  start from <seconds>
  -x <speed>             playback <speed>. between 0.2 - 3
@@ -11,10 +11,10 @@
 #include "tools/replay/util.h"

 const std::string helpText =
-R"(Usage: replay [options]
+R"(Usage: replay [options] [route]
 Options:
-  -a, --allow        Whitelist of services to send
-  -b, --block        Blacklist of services to send
+  -a, --allow        Whitelist of services to send (comma-separated)
+  -b, --block        Blacklist of services to send (comma-separated)
  -c, --cache        Cache <n> segments in memory. Default is 5
  -s, --start        Start from <seconds>
  -x, --playback     Playback <speed>
@@ -8,7 +8,6 @@ import numpy as np
 import pygame

 import cereal.messaging as messaging
-from openpilot.common.numpy_fast import clip
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.tools.replay.lib.ui_helpers import (UP,
@@ -152,11 +151,11 @@ def ui_thread(addr):
    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
    # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
    # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
    active = sm['controlsState'].active
    steer = sm['carOutput'].actuatorsOutput.torque
    standstill = sm['carState'].standstill
-    steer_limited = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
    overriding = sm['carState'].steeringPressed
    changing_lanes = sm['modelV2'].meta.laneChangeState != 0
    model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
            self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
            if len(model_points):
              self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited:
+            if steer_limited_by_controls:
              self.speed_group_stats[group][angle_abs]["limited"] += 1
            if control_state.saturated:
              self.speed_group_stats[group][angle_abs]["saturated"] += 1