Merge branch 'SP-157-sync-20240614' into SP-157-sync-priv-20240614

2026-07-12 22:22:07 +08:00 · 2024-06-16 22:45:49 -04:00
parent dc9b652682 8de2399680
commit 27fbb3a67b
71 changed files with 1930 additions and 1868 deletions
@@ -69,11 +69,8 @@ jobs:
  build:
    strategy:
      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
+    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
      with:
@@ -90,23 +87,6 @@ jobs:
    - uses: ./.github/workflows/compile-openpilot
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
  static_analysis:
    name: static analysis
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -39,6 +39,25 @@ jobs:
                        source selfdrive/test/setup_vsound.sh && \
                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"

+  test_python311:
+    name: test python3.11 support
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    steps:
+    - uses: actions/checkout@v4
+    - name: Installing ubuntu dependencies
+      run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
+    - name: Installing python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.11.4'
+    - name: Installing pip
+      run: pip install pip==24.0
+    - name: Installing poetry
+      run: pip install poetry==1.7.0
+    - name: Installing python dependencies
+      run: poetry install --no-cache --no-root
+
  devcontainer:
    name: devcontainer
    runs-on: ubuntu-latest
@@ -84,3 +84,22 @@ build/

 poetry.toml
 Pipfile
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
@@ -1 +0,0 @@
-3.11.4
@@ -1,3 +1,7 @@
+sunnypilot - 0.9.8.0 (2024-xx-xx)
+========================
+* Always on driver monitoring toggle
+
 sunnypilot - 0.9.7.1 (2024-06-13)
 ========================
 * New driving model
@@ -64,11 +64,11 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER

 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
+ENV PYENV_VERSION=3.12.4
 ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"

-COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER pyproject.toml poetry.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/

 RUN cd /tmp && \
@@ -76,7 +76,7 @@ RUN cd /tmp && \
    rm -rf /tmp/* && \
    rm -rf /home/$USER/.cache && \
    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
+    rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test

 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -1,17 +1,19 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* Always on driver monitoring toggle
+* Added toggle to enable driver monitoring even when openpilot is not engaged

-Version 0.9.7 (2024-06-11)
+Version 0.9.7 (2024-06-13)
 ========================
 * New driving model
  * Inputs the past curvature for smoother and more accurate lateral control
  * Simplified neural network architecture in the model's last layers
  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
 * Adjust driving personality with the follow distance button
-* Added toggle to enable driver monitoring even when openpilot is not engaged
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen

 Version 0.9.6 (2024-02-27)
 ========================
@@ -1,11 +1,6 @@
-# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
+# What is cereal?

-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.


 ## Messaging Spec
@@ -32,11 +27,7 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi
 spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
-
-## Pub Sub Backends
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

 Example
 ---
@@ -539,8 +539,7 @@ struct CarParams {
  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
-  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
  dashcamOnly @41: Bool;
@@ -593,8 +592,8 @@ struct CarParams {
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
    kf @6 :Float32;
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
  }

  struct LateralINDITuning {
@@ -754,4 +753,5 @@ struct CarParams {
  brakeMaxVDEPRECATED @16 :List(Float32);
  directAccelControlDEPRECATED @30 :Bool;
  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  personality @66 :LongitudinalPersonality;

  longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vPid @2 :Float32;
  vTargetLead @3 :Float32;
  vCruise @22 :Float32;  # actual set speed
  vCruiseCluster @63 :Float32;  # set speed to display in the UI
@@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
  canMonoTimesDEPRECATED @21 :List(UInt64);
  desiredCurvatureRateDEPRECATED @62 :Float32;
  canErrorCounterDEPRECATED @57 :UInt32;
+  vPidDEPRECATED @2 :Float32;
 }

 # All SI units and in device frame
@@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  accels @32 :List(Float32);
  speeds @33 :List(Float32);
  jerks @34 :List(Float32);
+  aTarget @18 :Float32;
+  shouldStop @37: Bool;
+  allowThrottle @38: Bool;
+  allowBrake @39: Bool;
+

  solverExecutionTime @35 :Float32;

@@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  aCruiseDEPRECATED @17 :Float32;
  vTargetDEPRECATED @3 :Float32;
  vTargetFutureDEPRECATED @14 :Float32;
-  aTargetDEPRECATED @18 :Float32;
  vStartDEPRECATED @26 :Float32;
  aStartDEPRECATED @27 :Float32;
  vMaxDEPRECATED @20 :Float32;
@@ -2244,7 +2248,6 @@ struct Event {
    carControl @23 :Car.CarControl;
    carOutput @127 :Car.CarOutput;
    longitudinalPlan @24 :LongitudinalPlan;
-    uiPlan @106 :UiPlan;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -2365,5 +2368,6 @@ struct Event {
    sensorEventsDEPRECATED @11 :List(SensorEventData);
    lateralPlanDEPRECATED @64 :LateralPlan;
    navModelDEPRECATED @104 :NavModelData;
+    uiPlanDEPRECATED @106 :UiPlan;
  }
 }
@@ -69,7 +69,7 @@ _services: dict[str, tuple] = {
  "navThumbnail": (True, 0.),
  "navModelDEPRECATED": (True, 2., 4.),
  "mapRenderState": (True, 2., 1.),
-  "uiPlan": (True, 20., 40.),
+  "uiPlanDEPRECATED": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
  "microphone": (True, 10., 10),
@@ -1,7 +1,7 @@
 import jwt
 import requests
 import unicodedata
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version

@@ -24,7 +24,7 @@ class BaseApi:
    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)

  def _get_token(self, expiry_hours=1, **extra_payload):
-    now = datetime.utcnow()
+    now = datetime.now(UTC).replace(tzinfo=None)
    payload = {
      'identity': self.dongle_id,
      'nbf': now,
@@ -6,7 +6,7 @@ import threading
 import psutil
 from collections import deque

-from setproctitle import getproctitle
+from openpilot.common.threadname import getthreadname

 from openpilot.system.hardware import PC

@@ -62,7 +62,7 @@ class Ratekeeper:
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
-    self._process_name = getproctitle()
+    self._thread_name = getthreadname()
    self._dts = deque([self._interval], maxlen=100)
    self._last_monitor_time = time.monotonic()

@@ -97,7 +97,7 @@ class Ratekeeper:
    remaining = self._next_frame_time - time.monotonic()
    self._next_frame_time += self._interval
    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
      lagged = True
    self._frame += 1
    self._remaining = remaining
@@ -0,0 +1,8 @@
+from openpilot.common.threadname import setthreadname, getthreadname, LINUX
+
+class TestThreadName:
+  def test_set_get_threadname(self):
+    if LINUX:
+      name = 'TESTING'
+      setthreadname(name)
+      assert name == getthreadname()
@@ -0,0 +1,19 @@
+import ctypes
+import os
+
+LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
+
+if LINUX:
+  libc = ctypes.CDLL('libc.so.6')
+
+def setthreadname(name: str) -> None:
+  if LINUX:
+    name = name[-15:] + '\0'
+    libc.prctl(15, str.encode(name), 0, 0, 0)
+
+def getthreadname() -> str:
+  if LINUX:
+    name = ctypes.create_string_buffer(16)
+    libc.prctl(16, name)
+    return name.value.decode('utf-8')
+  return ""
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.7.1"
+#define COMMA_VERSION "0.9.8.0"
@@ -90,9 +90,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
@@ -127,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
@@ -88,7 +88,7 @@ repository = "https://github.com/commaai/openpilot"
 documentation = "https://docs.comma.ai"

 [tool.poetry.dependencies]
-python = "~3.11"
+python = ">=3.11, <3.13"

 # multiple users
 sounddevice = "*"  # micd + soundd
@@ -137,40 +137,22 @@ future-fstrings = "*"
 # these should be removed
 psutil = "*"
 timezonefinder = "*"  # just used for nav ETA
-setproctitle = "*"
 pycryptodome = "*"  # used in updated/casync, panda, body, and a test

-[tool.poetry.group.dev.dependencies]
-av = "*"
-azure-identity = "*"
-azure-storage-blob = "*"
-breathe = "*"
-control = "*"
-coverage = "*"
-dictdiffer = "*"
-flaky = "*"
-hypothesis = "~6.47"
-inputs = "*"
+#logreader
+zstd = "*"
+
+[tool.poetry.group.docs.dependencies]
 Jinja2 = "*"
-lru-dict = "*"
-matplotlib = "*"
-# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
-metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
-mpld3 = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+
+[tool.poetry.group.testing.dependencies]
+coverage = "*"
+hypothesis = "~6.47"
 mypy = "*"
-myst-parser = "*"
-natsort = "*"
-opencv-python-headless = "*"
-parameterized = "^0.8"
-pprofile = "*"
-polyline = "*"
 pre-commit = "*"
-pyautogui = "*"
-pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools
-pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
-pygame = "*"
-pywinctl = "*"
-pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
 pytest-cpp = "*"
@@ -181,11 +163,33 @@ pytest-randomly = "*"
 pytest-asyncio = "*"
 pytest-mock = "*"
 pytest-repeat = "*"
-rerun-sdk = "*"
 ruff = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
+
+[tool.poetry.group.dev.dependencies]
+av = "*"
+azure-identity = "*"
+azure-storage-blob = "*"
+breathe = "*"
+control = "*"
+dictdiffer = "*"
+flaky = "*"
+inputs = "*"
+lru-dict = "*"
+matplotlib = "*"
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+mpld3 = "*"
+myst-parser = "*"
+natsort = "*"
+opencv-python-headless = "*"
+parameterized = "^0.8"
+#pprofile = "*"
+polyline = "*"
+pyautogui = "*"
+pygame = "*"
+pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
+pywinctl = "*"
+pyprof2calltree = "*"
+rerun-sdk = "*"
 tabulate = "*"
 types-requests = "*"
 types-tabulate = "*"
@@ -0,0 +1,36 @@
+# openpilot releases
+
+## release checklist
+
+**Go to `devel-staging`**
+- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
+- [ ] open a pull request from `devel-staging` to `devel`
+
+**Go to `devel`**
+- [ ] update RELEASES.md
+- [ ] close out milestone
+- [ ] post on Discord dev channel
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] merge the pull request
+
+tests:
+- [ ] update from previous release -> new release
+- [ ] update from new release -> previous release
+- [ ] fresh install with `openpilot-test.comma.ai`
+- [ ] drive on fresh install
+- [ ] comma body test
+- [ ] no submodules or LFS
+- [ ] check sentry, MTBF, etc.
+
+**Go to `release3`**
+- [ ] publish the blog post
+- [ ] `git reset --hard origin/release3-staging`
+- [ ] tag the release
+```
+git tag v0.X.X <commit-hash>
+git push origin v0.X.X
+```
+- [ ] create GitHub release
+- [ ] final test install on `openpilot.comma.ai`
+- [ ] update production
+- [ ] Post on Discord, X, etc.
@@ -33,16 +33,22 @@ blacklist = [

  "matlab.*.md",

-  ".git$",  # for submodules
  ".git/",
  ".github/",
  ".devcontainer/",
  "Darwin/",
  ".vscode/",

-  # no LFS
+  # common things
+  "LICENSE",
+  "Dockerfile",
+  ".pre-commit",
+
+  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
+  ".git$",
+  ".gitmodules",
 ]

 # Sunnypilot blacklist
@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname

 def waste(core):
  os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
  j = 0
  while 1:
    if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setthreadname("%3d: %8d" % (core, i))
      lt = time.monotonic()
      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
      st = lt
@@ -71,25 +71,35 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que

 if __name__ == "__main__":
  import argparse
+  from openpilot.common.params import Params
+  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing

  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
  parser.add_argument('--debug', action='store_true')
  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
  parser.add_argument('--timeout', type=float, default=1.0)
  args = parser.parse_args()

  logcan = messaging.sub_sock('can')
  sendcan = messaging.pub_sock('sendcan')

-  time.sleep(1.0)
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  set_obd_multiplexing(params, not args.no_obd)

  print("Getting ECU addresses ...")
  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)

  print()
-  print("Found ECUs on addresses:")
+  print("Found ECUs on rx addresses:")
  for addr, subaddr, _ in ecu_addrs:
-    msg = f"  0x{hex(addr)}"
+    msg = f"  {hex(addr)}"
    if subaddr is not None:
      msg += f" (sub-address: {hex(subaddr)})"
    print(msg)
@@ -27,10 +27,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.2
    ret.steerLimitTimer = 1.0

-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
    CAN = CanBus(fingerprint=fingerprint)
    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
    if CAN.main >= 4:
@@ -94,11 +94,7 @@ class CarInterface(CarInterfaceBase):
    else:
      ret.transmissionType = TransmissionType.automatic

-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.15]
-
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiBP = [5., 35.]

    if candidate in CAMERA_ACC_CAR:
      ret.experimentalLongitudinalAvailable = True
@@ -110,8 +106,7 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 10 * CV.KPH_TO_MS

      # Tuning for experimental long
-      ret.longitudinalTuning.kpV = [2.0, 1.5]
-      ret.longitudinalTuning.kiV = [0.72]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
      ret.vEgoStopping = 0.25
      ret.vEgoStarting = 0.25
@@ -131,8 +126,7 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 7 * CV.MPH_TO_MS

      # Tuning
-      ret.longitudinalTuning.kpV = [2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.36]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]

    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -148,7 +142,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
+    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking

    if candidate == CAR.CHEVROLET_VOLT:
      ret.lateralTuning.pid.kpBP = [0., 40.]
@@ -77,17 +77,13 @@ class CarInterface(CarInterfaceBase):
    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward

    if candidate in HONDA_BOSCH:
-      ret.longitudinalTuning.kpV = [0.25]
-      ret.longitudinalTuning.kiV = [0.05]
-      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+      ret.longitudinalActuatorDelay = 0.5 # s
      if candidate in HONDA_BOSCH_RADARLESS:
        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
    else:
      # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.longitudinalTuning.kiBP = [0., 5., 35.]
+      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]

    eps_modified = False
    for fw in car_fw:
@@ -2,6 +2,9 @@
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR

+# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
+# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
+
 Ecu = car.CarParams.Ecu

 FINGERPRINTS = {
@@ -995,6 +998,8 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
    ],
  },
  CAR.HYUNDAI_IONIQ_6: {
@@ -91,14 +91,10 @@ class CarInterface(CarInterfaceBase):

    # *** longitudinal control ***
    if candidate in CANFD_CAR:
-      ret.longitudinalTuning.kpV = [0.1]
-      ret.longitudinalTuning.kiV = [0.0]
      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
        ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
    else:
-      ret.longitudinalTuning.kpV = [0.5]
-      ret.longitudinalTuning.kiV = [0.0]
      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
      if candidate in CAMERA_SCC_CAR:
        ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
@@ -109,8 +105,7 @@ class CarInterface(CarInterfaceBase):
    ret.startingState = True
    ret.vEgoStarting = 0.1
    ret.startAccel = 1.0
-    ret.longitudinalActuatorDelayLowerBound = 0.5
-    ret.longitudinalActuatorDelayUpperBound = 0.5
+    ret.longitudinalActuatorDelay = 0.5

    if DBC[ret.carFingerprint]["radar"] is None:
      if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
@@ -320,9 +320,9 @@ class CAR(Platforms):
  )
  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
@@ -492,7 +492,7 @@ class CAR(Platforms):
  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
    ],
@@ -379,16 +379,13 @@ class CarInterfaceBase(ABC):
    ret.vEgoStopping = 0.5
    ret.vEgoStarting = 0.5
    ret.stoppingControl = True
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
    ret.longitudinalTuning.kf = 1.
    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [1.]
+    ret.longitudinalTuning.kpV = [0.]
    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [1.]
+    ret.longitudinalTuning.kiV = [0.]
    # TODO estimate car specific lag, use .15s for now
-    ret.longitudinalActuatorDelayLowerBound = 0.15
-    ret.longitudinalActuatorDelayUpperBound = 0.15
+    ret.longitudinalActuatorDelay = 0.15
    ret.steerLimitTimer = 1.0
    return ret

@@ -107,11 +107,6 @@ class CarInterface(CarInterfaceBase):
      ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value

    if ret.openpilotLongitudinalControl:
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
-
      ret.stoppingControl = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG

@@ -18,12 +18,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerControlType = car.CarParams.SteerControlType.angle

-    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
-    ret.longitudinalTuning.kpBP = [0]
-    ret.longitudinalTuning.kpV = [0]
-    ret.longitudinalTuning.kiBP = [0]
-    ret.longitudinalTuning.kiV = [0]
-    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    ret.longitudinalActuatorDelay = 0.5 # s
    ret.radarTimeStep = (1.0 / 8) # 8Hz

    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
@@ -75,7 +75,6 @@ class TestCarInterfaces:
    # Longitudinal sanity checks
    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-    assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP)

    # If we're using the interceptor for gasPressed, we should be commanding gas with it
    if car_params.enableGasInterceptorDEPRECATED:
@@ -161,23 +161,22 @@ class CarInterface(CarInterfaceBase):
    sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")

    tune = ret.longitudinalTuning
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
    if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
-      tune.kpBP = [0., 5., 20., 30.] if sp_tss2_long_tune else [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7, 0.1] if sp_tss2_long_tune else [1.3, 1.0, 0.7]
-      tune.kiBP = [0.,   1.,    2.,    3.,   4.,   5.,    12.,  20.,  27., 40.] if sp_tss2_long_tune else [0., 5., 12., 20., 27.]
-      tune.kiV = [.348, .3361, .3168, .2831, .2571, .226, .198, .17,  .10, .01] if sp_tss2_long_tune else [.35, .23, .20, .17, .1]
+      if sp_tss2_long_tune:
+        tune.kpBP = [0., 5., 20., 30.]
+        tune.kpV = [1.3, 1.0, 0.7, 0.1]
+        tune.kiBP = [0.,   1.,    2.,    3.,   4.,   5.,    12.,  20.,  27., 40.]
+        tune.kiV = [.348, .3361, .3168, .2831, .2571, .226, .198, .17,  .10, .01]
+      else:
+        tune.kpV = [0.0]
+        tune.kiV = [0.5]
      if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.15 if sp_tss2_long_tune else 0.25
-        ret.vEgoStarting = 0.15 if sp_tss2_long_tune else 0.25
-        ret.stopAccel = -0.4 if sp_tss2_long_tune else 0
-        ret.stoppingDecelRate = 0.05 if sp_tss2_long_tune else 0.3  # reach stopping target smoothly
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
+        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
    else:
-      tune.kpBP = [0., 5., 35.]
-      tune.kiBP = [0., 35.]
-      tune.kpV = [3.6, 2.4, 1.5]
-      tune.kiV = [0.54, 0.36]
+      tune.kiBP = [0., 5., 35.]
+      tune.kiV = [3.6, 2.4, 1.5]

    return ret

@@ -108,8 +108,6 @@ class CarInterface(CarInterfaceBase):
    ret.stopAccel = -0.55
    ret.vEgoStarting = 0.1
    ret.vEgoStopping = 0.5
-    ret.longitudinalTuning.kpV = [0.1]
-    ret.longitudinalTuning.kiV = [0.0]
    ret.autoResumeSng = ret.minEnableSpeed == -1

    return ret
@@ -634,13 +634,12 @@ class Controls:
    if not CC.latActive:
      self.LaC.reset()
    if not CC.longActive:
-      self.LoC.reset(v_pid=CS.vEgo)
+      self.LoC.reset()

    if not self.joystick_mode:
      # accel PID loop
      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)

      # Steering PID loop and lateral MPC
      if self.model_use_lateral_planner:
@@ -831,7 +830,6 @@ class Controls:
    controlsState.state = self.state
    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
    controlsState.longControlState = self.LoC.long_control_state
-    controlsState.vPid = float(self.LoC.v_pid)
    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
    controlsState.upAccelCmd = float(self.LoC.pid.p)
@@ -931,7 +929,7 @@ class Controls:
      while True:
        self.step()
        self.rk.monitor_time()
-    except SystemExit:
+    finally:
      e.set()
      t.join()

@@ -237,16 +237,6 @@ class VCruiseHelper:
    self.is_metric_prev = is_metric


-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
-
-
 def apply_center_deadzone(error, deadzone):
  if (error > - deadzone) and (error < deadzone):
    error = 0.
@@ -7,7 +7,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car.interfaces import LatControlInputs
 from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -1,7 +1,7 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants

@@ -10,20 +10,12 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState


-def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
-                             v_target_1sec, brake_pressed, cruise_standstill):
+def long_control_state_trans(CP, active, long_control_state, v_ego,
+                             should_stop, brake_pressed, cruise_standstill):
  # Ignore cruise standstill if car has a gas interceptor
  cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED
-  accelerating = v_target_1sec > v_target
-  planned_stop = (v_target < CP.vEgoStopping and
-                  v_target_1sec < CP.vEgoStopping and
-                  not accelerating)
-  stay_stopped = (v_ego < CP.vEgoStopping and
-                  (brake_pressed or cruise_standstill))
-  stopping_condition = planned_stop or stay_stopped
-
-  starting_condition = (v_target_1sec > CP.vEgoStarting and
-                        accelerating and
+  stopping_condition = should_stop
+  starting_condition = (not should_stop and
                        not cruise_standstill and
                        not brake_pressed)
  started_condition = v_ego > CP.vEgoStarting
@@ -36,7 +28,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
      long_control_state = LongCtrlState.pid
      if stopping_condition:
        long_control_state = LongCtrlState.stopping
-
    elif long_control_state == LongCtrlState.stopping:
      if starting_condition and CP.startingState:
        long_control_state = LongCtrlState.starting
@@ -51,84 +42,45 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,

  return long_control_state

-
 class LongControl:
  def __init__(self, CP):
    self.CP = CP
-    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.long_control_state = LongCtrlState.off
    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
-    self.v_pid = 0.0
    self.last_output_accel = 0.0

-  def reset(self, v_pid):
-    """Reset PID controller and change setpoint"""
+  def reset(self):
    self.pid.reset()
-    self.v_pid = v_pid

-  def update(self, active, CS, long_plan, accel_limits, t_since_plan):
+  def update(self, active, CS, a_target, should_stop, accel_limits):
    """Update longitudinal control. This updates the state machine and runs a PID loop"""
-    # Interp control trajectory
-    speeds = long_plan.speeds
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
-
-      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
-
-      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
-
-      v_target = min(v_target_lower, v_target_upper)
-      a_target = min(a_target_lower, a_target_upper)
-
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-
    self.pid.neg_limit = accel_limits[0]
    self.pid.pos_limit = accel_limits[1]

-    output_accel = self.last_output_accel
    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target, v_target_1sec, CS.brakePressed,
+                                                       should_stop, CS.brakePressed,
                                                       CS.cruiseState.standstill)
-
    if self.long_control_state == LongCtrlState.off:
-      self.reset(CS.vEgo)
+      self.reset()
      output_accel = 0.

    elif self.long_control_state == LongCtrlState.stopping:
+      output_accel = self.last_output_accel
      if output_accel > self.CP.stopAccel:
        output_accel = min(output_accel, 0.0)
        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
-      self.reset(CS.vEgo)
+      self.reset()

    elif self.long_control_state == LongCtrlState.starting:
      output_accel = self.CP.startAccel
-      self.reset(CS.vEgo)
+      self.reset()

-    elif self.long_control_state == LongCtrlState.pid:
-      self.v_pid = v_target_now
-
-      # Toyota starts braking more when it thinks you want to stop
-      # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      # TODO too complex, needs to be simplified and tested on toyotas
-      prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
-      deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
-      freeze_integrator = prevent_overshoot
-
-      error = self.v_pid - CS.vEgo
-      error_deadzone = apply_deadzone(error, deadzone)
-      output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
-                                     feedforward=a_target,
-                                     freeze_integrator=freeze_integrator)
+    else:  # LongCtrlState.pid
+      error = a_target - CS.aEgo
+      output_accel = self.pid.update(error, speed=CS.vEgo,
+                                     feedforward=a_target)

    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
-
    return self.last_output_accel
@@ -27,6 +27,7 @@ LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]

 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -45,7 +46,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
  this should avoid accelerating when losing the target in turns
  """
-
  # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
  # The lookup table for turns should also be updated if we do this
  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
@@ -55,6 +55,26 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
  return [a_target[0], min(a_target[1], a_x_allowed)]


+def get_accel_from_plan(CP, long_plan):
+    speeds = long_plan.speeds
+    if len(speeds) == CONTROL_N:
+      v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
+
+      v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+
+      v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+    else:
+      v_target = 0.0
+      v_target_now = 0.0
+      v_target_1sec = 0.0
+      a_target = 0.0
+    should_stop = (v_target < CP.vEgoStopping and
+                    v_target_1sec < CP.vEgoStopping)
+    return a_target, should_stop
+
+
 class LongitudinalPlanner:
  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
@@ -183,9 +203,14 @@ class LongitudinalPlanner:

    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])

+
    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
    longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
+    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True

    longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
    longitudinalPlan.accels = self.a_desired_trajectory.tolist()
@@ -195,7 +220,11 @@ class LongitudinalPlanner:
    longitudinalPlan.longitudinalPlanSource = self.mpc.source
    longitudinalPlan.fcw = self.fcw

-    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
+    longitudinalPlan.aTarget = a_target
+    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True

    pm.send('longitudinalPlan', plan_send)

@@ -13,27 +13,6 @@ from openpilot.selfdrive.sunnypilot import get_model_generation
 import cereal.messaging as messaging


-def cumtrapz(x, t):
-  return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
-
-def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner, model_use_lateral_planner):
-  if model_use_lateral_planner:
-    plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS)
-    model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS)
-
-  ui_send = messaging.new_message('uiPlan')
-  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
-  uiPlan = ui_send.uiPlan
-  uiPlan.frameId = sm['modelV2'].frameId
-  if model_use_lateral_planner:
-    x_fp = (lateral_planner.x_sol if lateral_planner.dynamic_lane_profile_status else lateral_planner.lat_mpc.x_sol)[:,0]
-    y_fp = (lateral_planner.x_sol if lateral_planner.dynamic_lane_profile_status else lateral_planner.lat_mpc.x_sol)[:,1]
-  uiPlan.position.x = np.interp(plan_odo, model_odo, x_fp).tolist() if model_use_lateral_planner else list(sm['modelV2'].position.x)
-  uiPlan.position.y = np.interp(plan_odo, model_odo, y_fp).tolist() if model_use_lateral_planner else list(sm['modelV2'].position.y)
-  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() if model_use_lateral_planner else list(sm['modelV2'].position.z)
-  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
-  pm.send('uiPlan', ui_send)
-
 def plannerd_thread():
  config_realtime_process(5, Priority.CTRL_LOW)

@@ -53,7 +32,7 @@ def plannerd_thread():
  lateral_planner = LateralPlanner(CP, debug=debug_mode, model_use_lateral_planner=model_use_lateral_planner)
  lateral_planner_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED']

-  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
+  pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
                            'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
                            'liveMapDataSP', 'e2eLongStateSP'] + lateral_planner_svs,
@@ -66,7 +45,7 @@ def plannerd_thread():
      lateral_planner.publish(sm, pm)
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)
-      publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner, model_use_lateral_planner)
+

 def main():
  plannerd_thread()
@@ -5,24 +5,35 @@ from collections import defaultdict

 import matplotlib.pyplot as plt

-from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route
+from tqdm import tqdm

 MIN_SIZE = 0.5  # Percent size of total to show as separate entry


 def make_pie(msgs, typ):
-  compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs.items()}
+  msgs_by_type = defaultdict(list)
+  for m in msgs:
+    msgs_by_type[m.which()].append(m.as_builder().to_bytes())

-  total = sum(compressed_length_by_type.values())
+  total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs])))
+  uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs]))
+
+  length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
+  # calculate compressed size by calculating diff when removed from the segment
+  compressed_length_by_type = {}
+  for k in tqdm(msgs_by_type.keys(), desc="Compressing"):
+    compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k])))

  sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1])

-  print(f"{typ} - Total {total / 1024:.2f} kB")
+  print("name - comp. size (uncomp. size)")
  for (name, sz) in sizes:
-    print(f"{name} - {sz / 1024:.2f} kB")
+    print(f"{name:<22} - {sz / 1024:.2f} kB ({length_by_type[name] / 1024:.2f} kB)")
  print()
+  print(f"{typ} - Real total {total / 1024:.2f} kB")
+  print(f"{typ} - Breakdown total {sum(compressed_length_by_type.values()) / 1024:.2f} kB")
+  print(f"{typ} - Uncompressed total {uncompressed_total / 1024 / 1024:.2f} MB")

  sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100]
  sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))]
@@ -35,28 +46,11 @@ def make_pie(msgs, typ):


 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description='Check qlog size based on a rlog')
+  parser = argparse.ArgumentParser(description='View log size breakdown by message type')
  parser.add_argument('route', help='route to use')
-  parser.add_argument('segment', type=int, help='segment number to use')
  args = parser.parse_args()

-  r = Route(args.route)
-  rlog = r.log_paths()[args.segment]
-  msgs = list(LogReader(rlog))
+  msgs = list(LogReader(args.route))

-  msgs_by_type = defaultdict(list)
-  for m in msgs:
-    msgs_by_type[m.which()].append(m.as_builder().to_bytes())
-
-  qlog_by_type = defaultdict(list)
-  for name, service in SERVICE_LIST.items():
-    if service.decimation is None:
-      continue
-
-    for i, msg in enumerate(msgs_by_type[name]):
-      if i % service.decimation == 0:
-        qlog_by_type[name].append(msg)
-
-  make_pie(msgs_by_type, 'rlog')
-  make_pie(qlog_by_type, 'qlog')
+  make_pie(msgs, 'qlog')
  plt.show()
@@ -6,7 +6,7 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -29,7 +29,7 @@ from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLCont
 from openpilot.selfdrive.sunnypilot import get_model_generation
 from openpilot.system.hardware.hw import Paths

-PROCESS_NAME = "selfdrive.modeld.modeld"
+THREAD_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

 MODEL_PATHS = {
@@ -170,9 +170,9 @@ class ModelState:
 def main(demo=False):
  cloudlog.warning("modeld init")

-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
+  sentry.set_tag("daemon", THREAD_NAME)
+  cloudlog.bind(daemon=THREAD_NAME)
+  setthreadname("modeld")
  config_realtime_process(7, 54)

  cloudlog.warning("setting up CL context")
@@ -409,7 +409,7 @@ if __name__ == "__main__":
    args = parser.parse_args()
    main(demo=args.demo)
  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+    cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
  except Exception:
    sentry.capture_exception()
    raise
@@ -120,7 +120,7 @@ std::vector<std::string> PandaUsbHandle::list() {
      libusb_close(handle);
      if (ret < 0) { goto finish; }

-      serials.push_back(std::string((char *)desc_serial, ret).c_str());
+      serials.push_back(std::string((char *)desc_serial, ret));
    }
  }

@@ -84,8 +84,8 @@ class TestBoarddSpi:
            ps = m.peripheralState
            assert ps.pandaType == "tres"
            assert 4000 < ps.voltage < 14000
-            assert 100 < ps.current < 1000
-            assert ps.fanSpeedRpm < 8000
+            assert 50 < ps.current < 1000
+            assert ps.fanSpeedRpm < 10000

      time.sleep(0.5)
    et = time.monotonic() - st
@@ -505,7 +505,7 @@ CONFIGS = [
  ProcessConfig(
    proc_name="plannerd",
    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
-    subs=["longitudinalPlan", "uiPlan"],
+    subs=["longitudinalPlan"],
    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
    init_callback=get_car_params_callback,
    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
@@ -1 +1 @@
-e536df5586a71b22baa789dc584d7eab67f1fbbb
+8737e368e17f859291164286feb4246e00c0b4a5
@@ -36,26 +36,26 @@ PROCS = {
  # Baseline CPU usage by process
  "selfdrive.controls.controlsd": 32.0,
  "selfdrive.car.card": 22.0,
-  "./loggerd": 14.0,
-  "./encoderd": 17.0,
-  "./camerad": 14.5,
-  "./locationd": 11.0,
+  "loggerd": 14.0,
+  "encoderd": 17.0,
+  "camerad": 14.5,
+  "locationd": 11.0,
  "selfdrive.controls.plannerd": 11.0,
-  "./ui": 18.0,
+  "ui": 18.0,
  "selfdrive.locationd.paramsd": 9.0,
-  "./sensord": 7.0,
+  "sensord": 7.0,
  "selfdrive.controls.radard": 7.0,
-  "selfdrive.modeld.modeld": 13.0,
+  "modeld": 13.0,
  "selfdrive.modeld.dmonitoringmodeld": 8.0,
  "system.hardware.hardwared": 3.87,
  "selfdrive.locationd.calibrationd": 2.0,
  "selfdrive.locationd.torqued": 5.0,
  "selfdrive.ui.soundd": 3.5,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 1.54,
+  "proclogd": 1.54,
  "system.logmessaged": 0.2,
  "system.tombstoned": 0,
-  "./logcatd": 0,
+  "logcatd": 0,
  "system.micd": 6.0,
  "system.timed": 0,
  "selfdrive.pandad.pandad": 0,
@@ -67,12 +67,12 @@ PROCS = {

 PROCS.update({
  "tici": {
-    "./pandad": 4.0,
-    "./ubloxd": 0.02,
+    "pandad": 4.0,
+    "ubloxd": 0.02,
    "system.ubloxd.pigeond": 6.0,
  },
  "tizi": {
-     "./pandad": 19.0,
+     "pandad": 19.0,
    "system.qcomgpsd.qcomgpsd": 1.0,
  }
 }.get(HARDWARE.get_device_type(), {}))
@@ -247,8 +247,7 @@ class TestOnroad:
    for pl in self.service_msgs['procLog']:
      for x in pl.procLog.procs:
        if len(x.cmdline) > 0:
-          n = list(x.cmdline)[0]
-          plogs_by_proc[n].append(x)
+          plogs_by_proc[x.name].append(x)
    print(plogs_by_proc.keys())

    cpu_ok = True
@@ -256,8 +255,9 @@ class TestOnroad:
    for proc_name, expected_cpu in PROCS.items():

      err = ""
+      exp = "???"
      cpu_usage = 0.
-      x = plogs_by_proc[proc_name]
+      x = plogs_by_proc[proc_name[-15:]]
      if len(x) > 2:
        cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
        cpu_usage = cpu_time / dt * 100.
@@ -309,7 +309,7 @@ class TestOnroad:
    assert max(mems) - min(mems) <= 3.0

  def test_gpu_usage(self):
-    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
+    assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"}

  def test_camera_processing_time(self):
    result = "\n"
@@ -164,7 +164,7 @@ class TestUpdated:
    # make sure LastUpdateTime is recent
    t = self._read_param("LastUpdateTime")
    last_update_time = datetime.datetime.fromisoformat(t)
-    td = datetime.datetime.utcnow() - last_update_time
+    td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time
    assert td.total_seconds() < 10
    self.params.remove("LastUpdateTime")

@@ -1370,7 +1370,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  }

  // paint path
-  QLinearGradient bg(0, height(), 0, height() / 4);
+  QLinearGradient bg(0, height(), 0, 0);
  if (madsEnabled || car_state.getCruiseState().getEnabled()) {
    if (steerOverride && latActive) {
      bg.setColorAt(0.0, QColor::fromHslF(20 / 360., 0.94, 0.51, 0.17));
@@ -1381,8 +1381,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
      bg.setColorAt(1, whiteColor(0));
    } else if (sm["controlsState"].getControlsState().getExperimentalMode()) {
      // The first half of track_vertices are the points for the right side of the path
-      // and the indices match the positions of accel from uiPlan
-      const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+      const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
      const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());

      for (int i = 0; i < max_len; ++i) {
@@ -1650,7 +1649,7 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
  painter.setPen(Qt::NoPen);

  if (s->scene.world_objects_visible) {
-    update_model(s, model, sm["uiPlan"].getUiPlan());
+    update_model(s, model);
    drawLaneLines(painter, s);

    if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
@@ -78,14 +78,10 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
 }

 void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model,
-                  const cereal::UiPlan::Reader &plan) {
+                  const cereal::ModelDataV2::Reader &model) {
  UIScene &scene = s->scene;
-  auto plan_position = plan.getPosition();
-  if (plan_position.getX().size() < model.getPosition().getX().size()) {
-    plan_position = model.getPosition();
-  }
-  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
+  auto model_position = model.getPosition();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1),
                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);

  // update lane lines
@@ -117,9 +113,9 @@ void update_model(UIState *s,
    const float lead_d = lead_one.getDRel() * 2.;
    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
  }
-  max_idx = get_path_length_idx(plan_position, max_distance);
-  update_line_data(s, plan_position, 0.9 - scene.mads_path_range * scene.mads_path_scale, 1.22, 1.22, &scene.track_vertices, max_idx, false);
-  update_line_data(s, plan_position, 1.0 - scene.mads_path_range * scene.mads_path_scale - 0.1 * scene.mads_path_scale, 1.22, 1.22, &scene.track_edge_vertices, max_idx, false);
+  max_idx = get_path_length_idx(model_position, max_distance);
+  update_line_data(s, model_position, 0.9 - scene.mads_path_range * scene.mads_path_scale, 1.22, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, model_position, 1.0 - scene.mads_path_range * scene.mads_path_scale - 0.1 * scene.mads_path_scale, 1.22, 1.22, &scene.track_edge_vertices, max_idx, false);
 }

 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -221,8 +217,7 @@ static void update_state(UIState *s) {
  scene.world_objects_visible = scene.world_objects_visible ||
                                (scene.started &&
                                 sm.rcv_frame("liveCalibration") > scene.started_frame &&
-                                 sm.rcv_frame("modelV2") > scene.started_frame &&
-                                 sm.rcv_frame("uiPlan") > scene.started_frame);
+                                 sm.rcv_frame("modelV2") > scene.started_frame);
  // TODO: SP - Set this dynamically on init with manual toggle or driving model selection
  if (sm.updated("lateralPlanSPDEPRECATED")) {
    scene.dynamic_lane_profile_status = sm["lateralPlanSPDEPRECATED"].getLateralPlanSPDEPRECATED().getDynamicLaneProfileStatus();
@@ -392,7 +387,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks", "longitudinalPlanSP", "liveMapDataSP",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks", "longitudinalPlanSP", "liveMapDataSP",
    "carControl", "lateralPlanSPDEPRECATED", "gpsLocation", "gpsLocationExternal", "liveParameters", "liveTorqueParameters", "controlsStateSP"
  });

@@ -334,8 +334,7 @@ Device *device();
 void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model,
-                  const cereal::UiPlan::Reader &plan);
+                  const cereal::ModelDataV2::Reader &model);
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
@@ -4,7 +4,7 @@ import json
 import jwt
 from pathlib import Path

-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.api.sunnylink import SunnylinkApi
 from openpilot.common.params import Params
@@ -67,7 +67,7 @@ def register(show_spinner=False) -> str | None:
    start_time = time.monotonic()
    while True:
      try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256')
        cloudlog.info("getting pilotauth")
        resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
@@ -111,7 +111,7 @@ def manager_init() -> None:
    ("LastSunnylinkPingTime", "0"),
  ]
  if not PC:
-    default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
+    default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))

  if params.get_bool("RecordFrontLock"):
    params.put_bool("RecordFront", True)
@@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process

-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname

 from cereal import car, log
 import cereal.messaging as messaging
@@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
    mod = importlib.import_module(proc)

    # rename the process
-    setproctitle(proc)
+    setthreadname(proc)

    # create new context since we forked
    messaging.context = messaging.Context()
@@ -173,7 +173,7 @@ def setup_quectel(diag: ModemDiag) -> bool:
    os.remove(ASSIST_DATA_FILE)
  #at_cmd("AT+QGPSXTRADATA?")
  if system_time_valid():
-    time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
+    time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
    at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")

  at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
@@ -85,7 +85,7 @@ class TestRawgpsd:
    if should_be_loaded:
      assert valid_duration == "10080"  # should be max time
      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.utcnow() - injected_time).total_seconds()) < 60*60*12
+      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
    else:
      valid_duration, injected_time_str = out.split(",", 1)
      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
@@ -133,7 +133,7 @@ def main() -> NoReturn:
      # flush when started state changes or after FLUSH_TIME_S
      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
        result = ""
-        current_time = datetime.utcnow().replace(tzinfo=UTC)
+        current_time = datetime.now(UTC)
        tags['started'] = sm['deviceState'].started

        for key, value in gauges.items():
@@ -6,7 +6,7 @@ import serial
 import struct
 import requests
 import urllib.parse
-from datetime import datetime
+from datetime import datetime, UTC

 from cereal import messaging
 from openpilot.common.params import Params
@@ -196,7 +196,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
        cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")

      # sending time to ublox
-      t_now = datetime.utcnow()
+      t_now = datetime.now(UTC).replace(tzinfo=None)
      if t_now >= datetime(2021, 6, 1):
        cloudlog.warning("Sending current time to ublox")

@@ -60,7 +60,7 @@ class WaitTimeHelper:
    self.ready_event.wait(timeout=t)

 def write_time_to_param(params, param) -> None:
-  t = datetime.datetime.utcnow()
+  t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
  params.put(param, t.isoformat().encode('utf8'))

 def read_time_from_param(params, param) -> datetime.datetime | None:
@@ -279,7 +279,7 @@ class Updater:
    if len(self.branches):
      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))

-    last_update = datetime.datetime.utcnow()
+    last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
    if update_success:
      write_time_to_param(self.params, "LastUpdateTime")
    else:
@@ -323,7 +323,7 @@ class Updater:
    for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
      set_offroad_alert(alert, False)

-    now = datetime.datetime.utcnow()
+    now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
    dt = now - last_update
    build_metadata = get_build_metadata()
    if failed_count > 15 and exception is not None and self.has_internet:
@@ -429,7 +429,7 @@ def main() -> None:
      cloudlog.event("update installed")

    if not params.get("InstallDate"):
-      t = datetime.datetime.utcnow().isoformat()
+      t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat()
      params.put("InstallDate", t.encode('utf8'))

    updater = Updater()
@@ -469,7 +469,7 @@ def main() -> None:

        # download update
        last_fetch = read_time_from_param(params, "UpdaterLastFetchTime")
-        timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3))
+        timed_out = last_fetch is None or (datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_fetch > datetime.timedelta(days=3))
        user_requested_fetch = wait_helper.user_request == UserRequest.FETCH
        if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch:
          cloudlog.info("skipping fetch, connection metered")
@@ -3,6 +3,7 @@ import json
 # for aiortc and its dependencies
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
+warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel

 from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
@@ -4,6 +4,7 @@ import json
 # for aiortc and its dependencies
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
+warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel

 from openpilot.system.webrtc.webrtcd import get_stream

@@ -11,6 +11,7 @@ from typing import Any, TYPE_CHECKING
 # aiortc and its dependencies have lots of internal warnings :(
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
+warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel

 import capnp
 from aiohttp import web
@@ -277,7 +277,7 @@ void ChartView::updateSeriesPoints() {
        }
        ((QScatterSeries *)s.series)->setMarkerSize(size);
      } else {
-        s.series->setPointsVisible(pixels_per_point > 20);
+        s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20);
      }
    }
  }
@@ -6,6 +6,7 @@ import argparse
 import numpy as np
 import multiprocessing
 import time
+import signal

 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
@@ -18,8 +19,8 @@ V4L2_BUF_FLAG_KEYFRAME = 8

 ENCODE_SOCKETS = {
  VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
-  VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
  VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
+  VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
 }

 def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
@@ -147,10 +148,14 @@ if __name__ == "__main__":

  vision_streams = [
    VisionStreamType.VISION_STREAM_ROAD,
-    VisionStreamType.VISION_STREAM_WIDE_ROAD,
    VisionStreamType.VISION_STREAM_DRIVER,
+    VisionStreamType.VISION_STREAM_WIDE_ROAD,
  ]

  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+
+  # register exit handler
+  signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
+
  cvipc.join()
@@ -41,7 +41,7 @@ fi

 export MAKEFLAGS="-j$(nproc)"

-PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version)
+PYENV_PYTHON_VERSION="3.12.4"
 if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
  # no pyenv update on mac
  if [ "$(uname)" == "Linux" ]; then
@@ -1,5 +1,5 @@
 import os
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from functools import lru_cache
 from pathlib import Path
 from typing import IO
@@ -20,7 +20,7 @@ def get_azure_credential():
@lru_cache
 def get_container_sas(account_name: str, container_name: str):
  from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas
-  start_time = datetime.utcnow()
+  start_time = datetime.now(UTC).replace(tzinfo=None)
  expiry_time = start_time + timedelta(hours=1)
  blob_service = BlobServiceClient(
    account_url=f"https://{account_name}.blob.core.windows.net",
@@ -10,6 +10,7 @@ import sys
 import tqdm
 import urllib.parse
 import warnings
+import zstd

 from collections.abc import Callable, Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
@@ -34,8 +35,8 @@ class _LogFileReader:
    ext = None
    if not dat:
      _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
-      if ext not in ('', '.bz2'):
-        # old rlogs weren't bz2 compressed
+      if ext not in ('', '.bz2', '.zst'):
+        # old rlogs weren't compressed
        raise Exception(f"unknown extension {ext}")

      with FileReader(fn) as f:
@@ -43,18 +44,21 @@ class _LogFileReader:

    if ext == ".bz2" or dat.startswith(b'BZh9'):
      dat = bz2.decompress(dat)
+    elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
+      # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
+      dat = zstd.decompress(dat)

    ents = capnp_log.Event.read_multiple_bytes(dat)

-    _ents = []
+    self._ents = []
    try:
      for e in ents:
-        _ents.append(e)
+        self._ents.append(e)
    except capnp.KjException:
      warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)

-    self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
-    self._ts = [x.logMonoTime for x in self._ents]
+    if sort_by_time:
+      self._ents.sort(key=lambda x: x.logMonoTime)

  def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
    for ent in self._ents:
@@ -126,12 +130,12 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
  return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)


-def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
  if not internal_source_available():
    raise InternalUnavailableException

  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
+    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"

  rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
  qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
@@ -139,6 +143,10 @@ def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
  return apply_strategy(mode, rlog_paths, qlog_paths)


+def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> LogPaths:
+  return internal_source(sr, mode, file_ext)
+
+
 def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
  rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs]
  qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs]
@@ -162,7 +170,8 @@ def get_invalid_files(files):

 def check_source(source: Source, *args) -> LogPaths:
  files = source(*args)
-  assert next(get_invalid_files(files), False) is False
+  assert len(files) > 0, "No files on source"
+  assert next(get_invalid_files(files), False) is False, "Some files are invalid"
  return files


@@ -170,8 +179,8 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
  if mode == ReadMode.SANITIZED:
    return comma_car_segments_source(sr, mode)

-  SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
-  exceptions = []
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,]
+  exceptions = {}

  # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
  if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
@@ -186,9 +195,10 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
    try:
      return check_source(source, sr, mode)
    except Exception as e:
-      exceptions.append(e)
+      exceptions[source.__name__] = e

-  raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}")
+  raise Exception("auto_source could not find any valid source, exceptions for sources:\n  - " +
+                  "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))


 def parse_useradmin(identifier: str):
@@ -9,7 +9,7 @@ from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.api import CommaApi
 from openpilot.tools.lib.helpers import RE

-QLOG_FILENAMES = ['qlog', 'qlog.bz2']
+QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
 QCAMERA_FILENAMES = ['qcamera.ts']
 LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2']
 CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
@@ -260,10 +260,6 @@ class SegmentRange:
  def dongle_id(self) -> str:
    return self.m.group("dongle_id")

-  @property
-  def timestamp(self) -> str:
-    return self.m.group("timestamp")
-
  @property
  def log_id(self) -> str:
    return self.m.group("log_id")
@@ -158,7 +158,6 @@ def ui_thread(addr):
    # 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['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
    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