From 015eed5d61c583328d419a7990ffac0eee97edd4 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 22 Feb 2024 20:17:00 -0500
Subject: [PATCH 01/10] Subaru: move to PlatformConfig (#31547)

* subaru platform config

* forester wrong dbc

* spacing
---
 selfdrive/car/subaru/values.py | 156 +++++++++++++++++++--------------
 1 file changed, 90 insertions(+), 66 deletions(-)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 2f7350b966..580408df0c 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,10 +1,10 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Union
+from enum import Enum, IntFlag
+from typing import List
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -68,27 +68,6 @@ class CanBus:
   camera = 2
 
 
-class CAR(StrEnum):
-  # Global platform
-  ASCENT = "SUBARU ASCENT LIMITED 2019"
-  ASCENT_2023 = "SUBARU ASCENT 2023"
-  IMPREZA = "SUBARU IMPREZA LIMITED 2019"
-  IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
-  FORESTER = "SUBARU FORESTER 2019"
-  OUTBACK = "SUBARU OUTBACK 6TH GEN"
-  CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
-  FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
-  LEGACY = "SUBARU LEGACY 7TH GEN"
-  FORESTER_2022 = "SUBARU FORESTER 2022"
-  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
-
-  # Pre-global
-  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
-  LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
-  OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
-  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
-
-
 class Footnote(Enum):
   GLOBAL = CarFootnote(
     "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
@@ -110,32 +89,92 @@ class SubaruCarInfo(CarInfo):
     if CP.experimentalLongitudinalAvailable:
       self.footnotes.append(Footnote.EXP_LONG)
 
-CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.IMPREZA: [
-    SubaruCarInfo("Subaru Impreza 2017-19"),
-    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
-    SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
-  ],
-  CAR.IMPREZA_2020: [
-    SubaruCarInfo("Subaru Impreza 2020-22"),
-    SubaruCarInfo("Subaru Crosstrek 2020-23"),
-    SubaruCarInfo("Subaru XV 2020-21"),
-  ],
+
+@dataclass
+class SubaruPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
+
+
+class CAR(Platforms):
+  # Global platform
+  ASCENT = SubaruPlatformConfig(
+    "SUBARU ASCENT LIMITED 2019",
+    SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+  )
+  OUTBACK = SubaruPlatformConfig(
+    "SUBARU OUTBACK 6TH GEN",
+    SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+  )
+  LEGACY = SubaruPlatformConfig(
+    "SUBARU LEGACY 7TH GEN",
+    SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+  )
+  IMPREZA= SubaruPlatformConfig(
+    "SUBARU IMPREZA LIMITED 2019",
+    [
+      SubaruCarInfo("Subaru Impreza 2017-19"),
+      SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+      SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+    ],
+  )
+  IMPREZA_2020 = SubaruPlatformConfig(
+    "SUBARU IMPREZA SPORT 2020",
+    [
+      SubaruCarInfo("Subaru Impreza 2020-22"),
+      SubaruCarInfo("Subaru Crosstrek 2020-23"),
+      SubaruCarInfo("Subaru XV 2020-21"),
+    ],
+  )
   # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
-  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
-  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
-  CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
-  CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
-  CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
-  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
-  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-  CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-}
+  CROSSTREK_HYBRID = SubaruPlatformConfig(
+    "SUBARU CROSSTREK HYBRID 2020",
+    SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
+    dbc_dict('subaru_global_2020_hybrid_generated', None),
+  )
+  FORESTER_HYBRID = SubaruPlatformConfig(
+    "SUBARU FORESTER HYBRID 2020",
+    SubaruCarInfo("Subaru Forester Hybrid 2020"),
+    dbc_dict('subaru_global_2020_hybrid_generated', None),
+  )
+  FORESTER = SubaruPlatformConfig(
+    "SUBARU FORESTER 2019",
+    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+  )
+  # Pre-global
+  FORESTER_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU FORESTER 2017 - 2018",
+    SubaruCarInfo("Subaru Forester 2017-18"),
+    dbc_dict('subaru_forester_2017_generated', None),
+  )
+  LEGACY_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU LEGACY 2015 - 2018",
+    SubaruCarInfo("Subaru Legacy 2015-18"),
+    dbc_dict('subaru_outback_2015_generated', None),
+  )
+  OUTBACK_PREGLOBAL = SubaruPlatformConfig(
+    "SUBARU OUTBACK 2015 - 2017",
+    SubaruCarInfo("Subaru Outback 2015-17"),
+    dbc_dict('subaru_outback_2015_generated', None),
+  )
+  OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
+    "SUBARU OUTBACK 2018 - 2019",
+    SubaruCarInfo("Subaru Outback 2018-19"),
+    dbc_dict('subaru_outback_2019_generated', None),
+  )
+  # Angle LKAS
+  FORESTER_2022= SubaruPlatformConfig(
+    "SUBARU FORESTER 2022",
+    SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  )
+  OUTBACK_2023 = SubaruPlatformConfig(
+    "SUBARU OUTBACK 7TH GEN",
+    SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+  )
+  ASCENT_2023 = SubaruPlatformConfig(
+    "SUBARU ASCENT 2023",
+    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))
+  )
+
 
 LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
@@ -186,20 +225,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
   }
 )
 
-DBC = {
-  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
-  CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
-  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
-  CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
-  CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
-  CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
-  CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
-  CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
-  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
-  CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
-  CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
-  CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()

From 73a497ded8b4ae7f1e2d3b5a7c4a2f57c748ff1c Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 22 Feb 2024 20:49:27 -0500
Subject: [PATCH 02/10] cleanup PlatformConfig (#31551)

cleanup
---
 selfdrive/car/__init__.py      | 2 ++
 selfdrive/car/subaru/values.py | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index ab0a26ca0c..ad21c694cc 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -78,6 +78,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
 
 DbcDict = Dict[str, str]
 
+
 def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
@@ -245,6 +246,7 @@ class CanSignalRateCalculator:
 
 CarInfos = Union[CarInfo, List[CarInfo]]
 
+
 @dataclass(order=True)
 class PlatformConfig:
   platform_str: str
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 580408df0c..7de083f4a2 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -109,7 +109,7 @@ class CAR(Platforms):
     "SUBARU LEGACY 7TH GEN",
     SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
   )
-  IMPREZA= SubaruPlatformConfig(
+  IMPREZA = SubaruPlatformConfig(
     "SUBARU IMPREZA LIMITED 2019",
     [
       SubaruCarInfo("Subaru Impreza 2017-19"),
@@ -162,7 +162,7 @@ class CAR(Platforms):
     dbc_dict('subaru_outback_2019_generated', None),
   )
   # Angle LKAS
-  FORESTER_2022= SubaruPlatformConfig(
+  FORESTER_2022 = SubaruPlatformConfig(
     "SUBARU FORESTER 2022",
     SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
   )

From c9c2ab9cc858bc2bc1ce16a3f4b04545582fcb1d Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 22 Feb 2024 21:34:42 -0500
Subject: [PATCH 03/10] pre-commit: run ruff first (#31548)

move ruff up
---
 .pre-commit-config.yaml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index f98bca6060..335ccae456 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -32,6 +32,11 @@ repos:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.2.2
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: mypy
@@ -43,11 +48,6 @@ repos:
         - --local-partial-types
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.2
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck

From 72a7f008ab3c4d0f86605860579926911815a103 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 23 Feb 2024 06:00:28 -0600
Subject: [PATCH 04/10] Volkswagen: log FW on non-OBD buses (#31556)

* log lots

* update refs

* cmt
---
 selfdrive/car/tests/test_fw_fingerprint.py |  4 ++--
 selfdrive/car/volkswagen/values.py         | 15 +++++++++++----
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index e1ebd5cf18..1a745b4447 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 6.05, 2: 6.95}
+    total_ref_time = {1: 6.5, 2: 7.4}
     brand_ref_times = {
       1: {
         'gm': 0.5,
@@ -277,7 +277,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'subaru': 0.45,
         'tesla': 0.2,
         'toyota': 1.6,
-        'volkswagen': 0.2,
+        'volkswagen': 0.65,
       },
       2: {
         'ford': 0.3,
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 35cb3607ec..b09cbc5d8a 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -293,17 +293,24 @@ VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER +
 VOLKSWAGEN_RX_OFFSET = 0x6a
 
 FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
+  # TODO: add back whitelists after we gather enough data
+  requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
+      # whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
       rx_offset=VOLKSWAGEN_RX_OFFSET,
+      bus=bus,
+      logging=(bus != 1 or not obd_multiplexing),
+      obd_multiplexing=obd_multiplexing,
     ),
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission],
+      # whitelist_ecus=[Ecu.engine, Ecu.transmission],
+      bus=bus,
+      logging=(bus != 1 or not obd_multiplexing),
+      obd_multiplexing=obd_multiplexing,
     ),
-  ],
+  ]],
 )

From 556f9738960526d6eeaab9fe639d0340a6d5d6c9 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 23 Feb 2024 14:50:33 -0500
Subject: [PATCH 05/10] segment range docs update (#31560)

* the format

* cleaner
---
 tools/lib/README.md | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/tools/lib/README.md b/tools/lib/README.md
index a0c4a0863b..af1ad0de22 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -34,10 +34,16 @@ for msg in lr:
 
 ### Segment Ranges
 
-We also support a new format called a "segment range", where you can specify which segments from a route to load.
+We also support a new format called a "segment range":
+
+```
+344c5c15b34f2d8a   /   2024-01-03--09-37-12   /     2:6    /       q
+[   dongle id     ] [       timestamp        ] [ selector ]  [ query type]
+```
+
+you can specify which segments from a route to load
 
 ```python
-
 lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4")   # 4th segment
 lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment
 lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1")  # last segment

From 1161d33c1892b32980a222b7c5b2ad9d6b05621e Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 23 Feb 2024 16:23:40 -0500
Subject: [PATCH 06/10] Subaru: move carspecs to PlatformConfig (#31550)

* subaru platform config

* forester wrong dbc

* spacing

* subaru car specs

* someday!

* more red diff

* all brands can be done like this

* but this should be done first and thats subaru specific

* that seems very low but we shouldn't change it here

* as long as it subclasses str its fine

* fix
---
 selfdrive/car/__init__.py          | 13 ++++++++--
 selfdrive/car/interfaces.py        | 12 +++++++--
 selfdrive/car/subaru/interface.py  | 40 +++---------------------------
 selfdrive/car/subaru/values.py     | 27 +++++++++++++++-----
 selfdrive/car/tests/test_models.py |  2 +-
 5 files changed, 47 insertions(+), 47 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index ad21c694cc..8f2c8bd451 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -247,12 +247,21 @@ class CanSignalRateCalculator:
 CarInfos = Union[CarInfo, List[CarInfo]]
 
 
+@dataclass
+class CarSpecs:
+  mass: float
+  wheelbase: float
+  steerRatio: float
+
+
 @dataclass(order=True)
 class PlatformConfig:
   platform_str: str
   car_info: CarInfos
   dbc_dict: DbcDict
 
+  specs: Optional[CarSpecs] = None
+
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
@@ -268,8 +277,8 @@ class Platforms(str, ReprEnum):
 
   @classmethod
   def create_dbc_map(cls) -> Dict[str, DbcDict]:
-    return {p.config.platform_str: p.config.dbc_dict for p in cls}
+    return {p: p.config.dbc_dict for p in cls}
 
   @classmethod
   def create_carinfo_map(cls) -> Dict[str, CarInfos]:
-    return {p.config.platform_str: p.config.car_info for p in cls}
+    return {p: p.config.car_info for p in cls}
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9767752edb..2b0b148ccf 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -4,7 +4,7 @@ import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
-from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple
+from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple, cast
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
@@ -12,7 +12,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -109,6 +109,14 @@ class CarInterfaceBase(ABC):
   @classmethod
   def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
+
+    if hasattr(candidate, "config"):
+      platform_config = cast(PlatformConfig, candidate.config)
+      if platform_config.specs is not None:
+        ret.mass = platform_config.specs.mass
+        ret.wheelbase = platform_config.specs.wheelbase
+        ret.steerRatio = platform_config.specs.steerRatio
+
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 1296aead5e..edf07ac2ef 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -40,11 +40,10 @@ class CarInterface(CarInterfaceBase):
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+
+    ret.centerToFront = ret.wheelbase * 0.5
+
     if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
-      ret.mass = 2031.
-      ret.wheelbase = 2.89
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 13.5
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
@@ -52,10 +51,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
     elif candidate == CAR.IMPREZA:
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
@@ -63,58 +58,31 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
     elif candidate == CAR.IMPREZA_2020:
-      ret.mass = 1480.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17           # learned, 14 stock
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
     elif candidate == CAR.CROSSTREK_HYBRID:
-      ret.mass = 1668.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17           # learned, 14 stock
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
     elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 20           # learned, 14 stock
 
     elif candidate == CAR.LEGACY_PREGLOBAL:
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
 
     elif candidate == CAR.OUTBACK_PREGLOBAL:
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 20           # learned, 14 stock
+      pass
     else:
       raise ValueError(f"unknown car: {candidate}")
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 7de083f4a2..b871a919e3 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -4,7 +4,7 @@ from typing import List
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -100,14 +100,17 @@ class CAR(Platforms):
   ASCENT = SubaruPlatformConfig(
     "SUBARU ASCENT LIMITED 2019",
     SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+    specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
   )
   OUTBACK = SubaruPlatformConfig(
     "SUBARU OUTBACK 6TH GEN",
     SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
   )
   LEGACY = SubaruPlatformConfig(
     "SUBARU LEGACY 7TH GEN",
     SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+    specs=OUTBACK.specs,
   )
   IMPREZA = SubaruPlatformConfig(
     "SUBARU IMPREZA LIMITED 2019",
@@ -116,6 +119,7 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
       SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     ],
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
   )
   IMPREZA_2020 = SubaruPlatformConfig(
     "SUBARU IMPREZA SPORT 2020",
@@ -124,55 +128,66 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru Crosstrek 2020-23"),
       SubaruCarInfo("Subaru XV 2020-21"),
     ],
+    specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
   )
   # TODO: is there an XV and Impreza too?
   CROSSTREK_HYBRID = SubaruPlatformConfig(
     "SUBARU CROSSTREK HYBRID 2020",
     SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
     dbc_dict('subaru_global_2020_hybrid_generated', None),
+    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+  )
+  FORESTER = SubaruPlatformConfig(
+    "SUBARU FORESTER 2019",
+    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
   )
   FORESTER_HYBRID = SubaruPlatformConfig(
     "SUBARU FORESTER HYBRID 2020",
     SubaruCarInfo("Subaru Forester Hybrid 2020"),
     dbc_dict('subaru_global_2020_hybrid_generated', None),
-  )
-  FORESTER = SubaruPlatformConfig(
-    "SUBARU FORESTER 2019",
-    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+    specs=FORESTER.specs,
   )
   # Pre-global
   FORESTER_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU FORESTER 2017 - 2018",
     SubaruCarInfo("Subaru Forester 2017-18"),
     dbc_dict('subaru_forester_2017_generated', None),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
   )
   LEGACY_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU LEGACY 2015 - 2018",
     SubaruCarInfo("Subaru Legacy 2015-18"),
     dbc_dict('subaru_outback_2015_generated', None),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
   )
   OUTBACK_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU OUTBACK 2015 - 2017",
     SubaruCarInfo("Subaru Outback 2015-17"),
     dbc_dict('subaru_outback_2015_generated', None),
+    specs=FORESTER_PREGLOBAL.specs,
   )
   OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
     "SUBARU OUTBACK 2018 - 2019",
     SubaruCarInfo("Subaru Outback 2018-19"),
     dbc_dict('subaru_outback_2019_generated', None),
+    specs=FORESTER_PREGLOBAL.specs,
   )
   # Angle LKAS
   FORESTER_2022 = SubaruPlatformConfig(
     "SUBARU FORESTER 2022",
     SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+    specs=FORESTER.specs,
   )
   OUTBACK_2023 = SubaruPlatformConfig(
     "SUBARU OUTBACK 7TH GEN",
     SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+    specs=OUTBACK.specs,
   )
   ASCENT_2023 = SubaruPlatformConfig(
     "SUBARU ASCENT 2023",
-    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))
+    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+    specs=ASCENT.specs,
   )
 
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 3592fd0baa..ec7527713d 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -50,7 +50,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 
     for i, c in enumerate(sorted(all_known_cars())):
       if i % NUM_JOBS == JOB_ID:
-        test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,))))
+        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
 
   else:
     segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))

From b75a6cea34864d097ebd22a713db445180c72732 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 23 Feb 2024 19:35:21 -0600
Subject: [PATCH 07/10] VW PQ: Consolidate and cleanup tuning (#31566)

consolidate and cleanup PQ configs
---
 selfdrive/car/volkswagen/interface.py | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 710e779d0a..544d104d33 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -72,14 +72,18 @@ class CarInterface(CarInterfaceBase):
 
     # Global lateral tuning defaults, can be overridden per-vehicle
 
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.4
     ret.steerRatio = 15.6  # Let the params learner figure this out
-    ret.lateralTuning.pid.kpBP = [0.]
-    ret.lateralTuning.pid.kiBP = [0.]
-    ret.lateralTuning.pid.kf = 0.00006
-    ret.lateralTuning.pid.kpV = [0.6]
-    ret.lateralTuning.pid.kiV = [0.2]
+    ret.steerLimitTimer = 0.4
+    if candidate in PQ_CARS:
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    else:
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kpBP = [0.]
+      ret.lateralTuning.pid.kiBP = [0.]
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kpV = [0.6]
+      ret.lateralTuning.pid.kiV = [0.2]
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
@@ -131,8 +135,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.POLO_MK6:
       ret.mass = 1230
@@ -142,7 +144,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1639
       ret.wheelbase = 2.92
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
-      ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.TAOS_MK1:
       ret.mass = 1498

From 92475d653bcb94a907d20701a697118fbe8815ef Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 23 Feb 2024 17:41:03 -0800
Subject: [PATCH 08/10] agnos 9.7 (#31564)

* agnos 9.7

* update
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 0c72c54581..6859afb0d4 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.6"
+  export AGNOS_VERSION="9.7"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index b4408d2140..e69842cfec 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz",
-    "hash": "10ac02f18c5f1cde5a888a3411d3701b929c3488753467e77aad6085db058eb9",
-    "hash_raw": "3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2.img.xz",
+    "hash": "4858385ba6284bcaa179ab77ac4263486e4d8670df921e4ac400464dc1dde59c",
+    "hash_raw": "0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "a7db41b93b587f8f9c3f83a3313f186445c4bdf07283cd6a5421dfbc0286c9db",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz",
-      "size": 4548131508
+      "hash": "42658a6fff660d9b6abb9cb9fbb3481071259c9a9598718af6b1edff2b556009",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2.img.xz",
+      "size": 4548292756
     }
   }
 ]
\ No newline at end of file

From adb7e2e2297ecfc00e333155d4c8d0666c2c9205 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Fri, 23 Feb 2024 23:54:48 -0500
Subject: [PATCH 09/10] CI: Retry multiarch build (#31570)

hardware
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8b1f256bfb..d1dff147f2 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -117,7 +117,7 @@ jobs:
     - name: Merge x64 and arm64 tags
       run: |
         export PUSH_IMAGE=true
-        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
 
   static_analysis:
     name: static analysis

From 378ba114f9d4852374d76c7ebc0318a80cd29c43 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 23 Feb 2024 23:22:34 -0600
Subject: [PATCH 10/10] Ford: support hybrid Q3 platforms (#31568)

* bump

* ford: remove dynamic dashcam lockout for hybrids

* releases?

* Revert "releases?"

This reverts commit 88d950043d79b8c00535f48ed84b854bc2ab2557.

* bump

* Reapply "releases?"

This reverts commit db5079dc3f1a6bce70bd04430be45704d8604e76.

* 097
---
 RELEASES.md                     | 1 +
 panda                           | 2 +-
 selfdrive/car/ford/carstate.py  | 7 -------
 selfdrive/car/ford/interface.py | 2 --
 4 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 096fa691ac..d0fd530db1 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,7 @@
 Version 0.9.7 (2024-XX-XX)
 ========================
 * New driving model
+* Support for many hybrid Ford models
 
 Version 0.9.6 (2024-02-27)
 ========================
diff --git a/panda b/panda
index b4442a7c93..6aa4b55033 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b4442a7c930aac112cdd82cddfc3dd12254a56e1
+Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index ef56d23d79..34006e8da4 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -18,17 +18,10 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
     self.vehicle_sensors_valid = False
-    self.unsupported_platform = False
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
-    # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
-    # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
-    self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and
-                                 self.CP.carFingerprint not in CANFD_CAR)
-
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
     self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index cc013fb54b..685a2a27ad 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -109,8 +109,6 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
-    if self.CS.unsupported_platform:
-      events.add(car.CarEvent.EventName.startupNoControl)
 
     ret.events = events.to_msg()