Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

# Conflicts: # opendbc_repo # openpilot/tools/plotjuggler/layouts/analyzing-panda-block-angle-hkg.xml # openpilot/tools/plotjuggler/layouts/analyzing-torque-angle-hkg.xml # openpilot/tools/plotjuggler/layouts/hkg_angle_control.xml # openpilot/tools/plotjuggler/layouts/safety-limits-angle-kkg.xml # pyproject.toml # scripts/lint/lint.sh
2026-07-21 14:42:07 +08:00 · 2026-07-20 09:50:52 -04:00
parent 282f517b78 bf1b93f757
commit b2bdb5787f
1556 changed files with 5589 additions and 8794 deletions
@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/
@@ -10,5 +10,5 @@
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text

-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
@@ -8,24 +8,24 @@ chore:

 car:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'

 simulation:
  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
+    - any-glob-to-all-files: 'openpilot/tools/sim/**'

 ui:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'

 tools:
  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
+    - any-glob-to-all-files: 'openpilot/tools/**'

 multilanguage:
  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'

 autonomy:
  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"
@@ -44,8 +44,8 @@ Explain how you tested this bug fix.

 **Checklist**

- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] added entry to CAR in openpilot/selfdrive/car/*/values.py and ran `openpilot/selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):
@@ -12,7 +12,7 @@ jobs:
      issues: write
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: false

@@ -24,7 +24,7 @@ jobs:

    # Check PR target branch
    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
      if: github.repository == 'sunnypilot/sunnypilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD
@@ -30,7 +30,7 @@ jobs:
        run: |
          cd sunnypilot
          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

@@ -6,7 +6,7 @@ on:
      - master
  pull_request:
    paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
  workflow_dispatch:
  workflow_call:
    inputs:
@@ -30,36 +30,68 @@ jobs:
      - name: Checkout sunnypilot cereal
        uses: actions/checkout@v6
        with:
-          sparse-checkout: cereal
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false

      - name: Init sunnypilot opendbc submodule
        run: git submodule update --init --depth 1 opendbc_repo

-      - name: Checkout upstream openpilot cereal
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Checkout upstream openpilot
        uses: actions/checkout@v6
        with:
          repository: 'commaai/openpilot'
          path: upstream_openpilot
-          sparse-checkout: cereal
          ref: "refs/heads/master"

      - name: Init upstream opendbc submodule
        working-directory: upstream_openpilot
        run: git submodule update --init --depth 1 opendbc_repo

-      - name: Install uv
-        run: pip install uv
+      - name: Locate upstream capnp paths
+        id: locate-capnp
+        run: |
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"

      - name: Generate sunnypilot schema
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}

      - name: Validate against upstream
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}
@@ -17,29 +17,41 @@ jobs:
    - name: Wait for process replay
      id: wait
      continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
      with:
        ref: ${{ github.event.pull_request.head.sha }}
        check-name: process replay
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        allowed-conclusions: success,failure
        wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
    - name: Download diff
      if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
        name: diff_report_${{ github.event.number }}
        path: .
-        allow_forks: true
    - name: Comment on PR
      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
      with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -22,7 +22,7 @@ jobs:
    steps:
    - uses: commaai/timeout@v1

-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: true

@@ -34,7 +34,7 @@ jobs:
        python scripts/docs.py build

    # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
@@ -45,7 +45,7 @@ jobs:
      run: |
        set -x

-        source release/identity.sh
+        source tools/release/identity.sh

        cd openpilot-docs
        git checkout --orphan tmp
@@ -11,7 +11,7 @@ jobs:
      contents: write
    steps:
      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
        with:
          script: |
            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
    steps:
    - name: Check for trigger phrase
      id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
      with:
        script: |
          const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:

    - name: Checkout repository
      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
      with:
        ref: refs/pull/${{ github.event.issue.number }}/head

@@ -86,7 +86,7 @@ jobs:

    - name: Delete trigger comment
      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
      with:
        script: |
          await github.rest.issues.deleteComment({
@@ -4,7 +4,7 @@ on:
  pull_request:
    types: [opened, reopened, synchronize]
    paths:
-      - 'selfdrive/modeld/models/*.onnx'
+      - 'openpilot/selfdrive/modeld/models/*.onnx'
  workflow_dispatch:

 jobs:
@@ -16,11 +16,11 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
      - name: Checkout
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          submodules: true
      - name: Checkout master
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          ref: master
          path: base
@@ -36,7 +36,7 @@ jobs:
          echo "EOF" >> $GITHUB_OUTPUT

      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
+        uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0
        with:
          header: model-review
          message: ${{ steps.report.outputs.content }}
@@ -15,17 +15,17 @@ jobs:
    steps:
    - name: Wait for green check mark
      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
      with:
        ref: master
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
      with:
        submodules: true
        fetch-depth: 0
    - run: ./tools/op.sh setup
    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh
@@ -3,6 +3,8 @@ name: repo maintenance
 on:
  schedule:
    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
  workflow_dispatch:

 env:
@@ -12,9 +14,11 @@ jobs:
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: >-
+      github.repository == 'sunnypilot/sunnypilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: true
    - run: ./tools/op.sh setup
@@ -50,10 +54,10 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
      with:
        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -75,3 +79,43 @@ jobs:
          ${{ steps.pip_tree.outputs.PIP_TREE }}
          ```
        labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }
@@ -6,7 +6,7 @@ env:
  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  UPSTREAM_REPO: "commaai/openpilot"
  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models

 on:
  workflow_call:
@@ -92,7 +92,7 @@ jobs:
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
    runs-on: [self-hosted, tici]
@@ -128,7 +128,10 @@ jobs:
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -148,6 +151,7 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
          rm -rf ${{ env.MODELS_DIR }}/*.onnx

@@ -155,9 +159,9 @@ jobs:
        uses: actions/download-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
+          path: ${{ env.MODELS_DIR }}
      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
@@ -166,7 +170,7 @@ jobs:
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"

-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
@@ -264,4 +268,5 @@ jobs:
      - name: Re-enable powersave
        if: always()
        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
@@ -79,7 +79,7 @@ jobs:
            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT

-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
          fi
@@ -152,7 +152,10 @@ jobs:
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -172,20 +175,26 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

      - name: Build Main Project
        run: |
          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          cd $BUILD_DIR
+          ln -sfn msgq_repo/msgq msgq
+          ln -sfn opendbc_repo/opendbc opendbc
+          ln -sfn rednose_repo/rednose rednose
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
@@ -208,17 +217,17 @@ jobs:
            --exclude='Jenkinsfile' \
            --exclude='**/release/' \
            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
            --exclude='**/__pycache__/' \
            --exclude='${{env.SCONS_CACHE_DIR}}' \
            --exclude='**/.git/' \
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -237,6 +246,7 @@ jobs:
      - name: Re-enable powersave
        if: always()
        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable


@@ -363,7 +373,7 @@ jobs:
              owner: context.repo.owner,
              repo: context.repo.repo,
              issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
            });

            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
@@ -35,27 +35,27 @@ jobs:
      STRIPPED_DIR: /tmp/releasepilot
      PYTHONPATH: /tmp/releasepilot
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: true
    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
      with:
        timeout_minutes: 2
        max_attempts: 3
        command: git lfs pull
    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      timeout-minutes: 3
+      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
    - run: ./tools/op.sh setup
    - name: Build openpilot and run checks
      timeout-minutes: 30
      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
+      run: python3 openpilot/system/manager/build.py
    - name: Run tests
      timeout-minutes: 1
      working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
+      run: tools/release/check-dirty.sh
    - name: Check submodules
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
@@ -75,15 +75,13 @@ jobs:
            export CHECK_PR_REFS=true
          fi
        fi
-        release/check-submodules.sh
+        tools/release/check-submodules.sh

  build_mac:
    name: build macOS
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - name: Remove Homebrew from environment
      run: |
        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -101,9 +99,7 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Static analysis
      timeout-minutes: 1
@@ -118,16 +114,18 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
    - name: Build openpilot
      run: scons
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
+      env:
+        RAYLIB_BACKEND: headless
      run: |
-        source selfdrive/test/setup_xvfb.sh
        # Pre-compile Python bytecode so each pytest worker doesn't need to
        $PYTEST --collect-only -m 'not slow' -qq
        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
@@ -142,39 +140,37 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Build openpilot
      run: scons
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
    - name: Print diff
      id: print-diff
      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
    - name: Print diff report
      if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v7
      if: always()
      continue-on-error: true
      with:
        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        path: openpilot/selfdrive/test/process_replay/diff.txt
    - name: Upload diff report
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
      if: always() && github.event_name == 'pull_request'
      continue-on-error: true
      with:
        name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
    - name: Checkout ci-artifacts
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+      uses: actions/checkout@v7
      with:
        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -187,13 +183,13 @@ jobs:
        git config user.email "<>"
        git fetch origin process-replay || true
        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
    - name: Push refs
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
      with:
        timeout_minutes: 2
        max_attempts: 3
@@ -203,7 +199,7 @@ jobs:
      timeout-minutes: 4
      env:
        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
+      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py

  simulator_driving:
    name: simulator driving
@@ -215,17 +211,16 @@ jobs:
      || fromJSON('["ubuntu-24.04"]') }}
    if: false  # FIXME: Started to timeout recently
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Build openpilot
      run: scons
    - name: Driving test
      timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py

  create_ui_report:
    name: Create UI Report
@@ -236,19 +231,21 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
+      - uses: actions/checkout@v7
      - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
      - name: Build openpilot
        run: scons
      - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
        run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
      - name: Upload UI Report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
        with:
          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
+          path: openpilot/selfdrive/ui/tests/diff/report
@@ -8,9 +8,9 @@ on:
    branches:
      - 'master'
    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
  workflow_dispatch:

 env:
@@ -34,12 +34,12 @@ jobs:
      pull-requests: write
      actions: read
    steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
        with:
          submodules: true

      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
        with:
          ref: ${{ env.SHA }}
          check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +53,7 @@ jobs:
          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT

      - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@v6
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +62,7 @@ jobs:
          path: ${{ github.workspace }}/pr_ui

      - name: Getting mici master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +70,7 @@ jobs:
          ref: openpilot_master_ui_mici_raylib

      - name: Getting big master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +97,7 @@ jobs:
          done

      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3

      - name: Finding diffs
        if: github.event_name == 'pull_request_target'
@@ -115,13 +115,13 @@ jobs:
            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"

            diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?

-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"

            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
            if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +156,7 @@ jobs:
          for variant in $VARIANTS; do
            IFS=':' read -r name _ _ <<< "$variant"
            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
            git add "${diff_name}_pr_${{ github.event.number }}.html"
          done
          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
@@ -164,12 +164,12 @@ jobs:

      - name: Comment on PR
        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
        with:
          message: |
            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
            ## UI Preview
            ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/

+# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
@@ -44,18 +51,18 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json

 # build artifacts
 docs_site/
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test

 .coverage*
 coverage.xml
@@ -6,7 +6,7 @@
  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
  url = https://github.com/commaai/rednose.git
@@ -17,5 +17,5 @@
  path = tinygrad_repo
  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
@@ -6,9 +6,9 @@
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
      ]
    },
    {
@@ -16,7 +16,7 @@
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
      ]
    },
    {
@@ -17,10 +17,5 @@
    "**/.git",
    "**/.venv",
    "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "tools/**",
  ]
 }
@@ -1,5 +1,34 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
+sunnypilot Version 2026.002.000 (2026-06-28)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!

 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
@@ -1,38 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY --chown=$USER . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'
@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'

 set -e

@@ -63,6 +63,8 @@ if [ -f /data/openpilot/launch_env.sh ]; then
  source /data/openpilot/launch_env.sh
 fi

+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
@@ -93,7 +95,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
          retry (3) {
            def date = sh(script: 'date', returnStdout: true).trim();
            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
          }
          steps.each { item ->
            def name = item[0]
@@ -179,7 +181,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
      ])
    }

@@ -187,12 +189,12 @@ node {
      parallel (
        'nightly': {
          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
          ])
        },
        'nightly-dev': {
          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
          ])
        },
      )
@@ -202,51 +204,51 @@ node {
    parallel (
      'onroad tests': {
        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("check dirty", "tools/release/check-dirty.sh"),
+          step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
        ])
      },
      'HW + Unit Tests': {
        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
+          step("test encoder", "pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
        ])
      },
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'sensord': {
        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
        ])
      },
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "pytest openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "pytest openpilot/common/hardware/tici/tests/test_amplifier.py"),
        ])
      },

@@ -1104,7 +1104,7 @@ Version 0.2.1  (2016-12-14)

 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
 * controlsd has been refactored
 * Shipped plant model and testing maneuvers
 * visiond exits more gracefully now
@@ -27,6 +27,21 @@ AddOption('--minimal',
          default=(not TICI and not release),
          help='the minimum build to run openpilot. no tests, tools, etc.')

+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -40,9 +55,24 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# TICI CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
 acados_include_dirs = [
  acados.INCLUDE_DIR,
  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
@@ -91,7 +121,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
    "ACADOS_SOURCE_DIR": acados.DIR,
    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
    "TERA_PATH": acados.TERA_PATH
@@ -112,22 +142,27 @@ env = Environment(
  CFLAGS=["-std=gnu11"],
  CXXFLAGS=["-std=c++1z"],
  CPPPATH=[
-    "#",
-    "#msgq",
+    "#openpilot",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#openpilot/cereal/gen/cpp",
    acados_include_dirs,
    [x.INCLUDE_DIR for x in pkgs],
+    "#",
  ],
  LIBPATH=[
-    "#common",
+    "#openpilot/common",
    "#msgq_repo",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
+    "#openpilot/selfdrive/pandad",
+    "#rednose_repo/rednose/helpers",
    [x.LIB_DIR for x in pkgs],
  ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
@@ -190,7 +225,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')

-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')

 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
@@ -211,7 +246,7 @@ def prune_cache_dir(target=None, source=None, env=None):
 # ********** start building stuff **********

 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -222,7 +257,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})

-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])

 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -233,34 +268,33 @@ Export('messaging')
 SConscript(['panda/SConscript'])

 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])

 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])

 if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+  SConscript(['openpilot/system/camerad/SConscript'])

 # Build selfdrive
 SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
 ])

-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])

 # Build desktop-only tools
 if GetOption('extras') and arch != "larch64":
  SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
  ])


@@ -276,6 +310,8 @@ def count_scons_nodes(nodes):
    if node in seen:
      continue
    seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
    executor = node.get_executor()
    if executor is not None:
      stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -284,6 +320,7 @@ def count_scons_nodes(nodes):

 progress_interval = 5
 progress_count = 0
+build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))

 def progress_function(node):
@@ -299,3 +336,11 @@ def progress_function(node):

 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')
@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
@@ -1,256 +0,0 @@
-#!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
-"""
-
-from __future__ import annotations
-
-import argparse
-import json
-import os
-import sys
-from typing import Any
-
-NO_DISCRIMINANT = 0xFFFF
-
-
-def hex_id(value: int) -> str:
-  return f"0x{value:016x}"
-
-
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
-def encode_struct(schema: Any) -> dict:
-  node = schema.node
-  return {
-    "typeId": hex_id(node.id),
-    "displayName": node.displayName,
-    "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
-  }
-
-
-def _child_struct_schema(field: Any) -> Any:
-  proto = field.proto
-  if proto.which() == "group":
-    return field.schema
-  type_node = proto.slot.type
-  which = type_node.which()
-  if which == "struct":
-    return field.schema
-  if which == "list":
-    container = field.schema
-    element_type = type_node.list.elementType
-    while element_type.which() == "list":
-      container = container.elementType
-      element_type = element_type.list.elementType
-    if element_type.which() == "struct":
-      return container.elementType
-  return None
-
-
-def collect_schema(root: Any) -> dict[str, dict]:
-  structs: dict[str, dict] = {}
-  stack = [root]
-  while stack:
-    schema = stack.pop()
-    type_id = hex_id(schema.node.id)
-    if type_id in structs:
-      continue
-    structs[type_id] = encode_struct(schema)
-    for _name, field in schema.fields.items():
-      try:
-        child = _child_struct_schema(field)
-      except Exception:
-        child = None
-      if child is not None:
-        stack.append(child)
-  return structs
-
-
-def load_log(cereal_dir: str) -> Any:
-  import capnp
-  cereal_dir = os.path.abspath(cereal_dir)
-  capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
-
-
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
-  payload = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  with open(path, "w", encoding="utf-8") as handle:
-    json.dump(payload, handle, indent=2, sort_keys=True)
-  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
-
-
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
-def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
-  violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
-
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
-      continue
-
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
-        violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
-        )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
-
-  return violations
-
-
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
-  peer_dump = load_peer(peer_path)
-  local_dump = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
-
-  if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
-    return 0
-
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
-  for v in violations:
-    print(f"  {v}")
-  return 1
-
-
-def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
-  mode = parser.add_mutually_exclusive_group(required=True)
-  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
-  args = parser.parse_args()
-
-  if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
-
-
-if __name__ == "__main__":
-  sys.exit(main())
@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}
@@ -5,21 +5,27 @@ import pytest

 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.common.hardware import TICI, HARDWARE

 # these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
+  "openpilot/selfdrive/test/process_replay/test_processes.py",
+  "openpilot/selfdrive/test/process_replay/test_regen.py",
+
+  "openpilot/tools/sim/",
+
  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "sunnypilot/modeld_v2/tests/test_warp.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
+  "openpilot/sunnypilot/modeld_v2/tests/test_warp.py",
 ]


+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
@pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
  # ensure we run as a hook after capturemanager's
@@ -68,6 +68,6 @@ A good pull request has all of the following:
 ### A guide for forks

 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http

 ### Forks of openpilot

-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
   * your fork cannot use the openpilot trademark
   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
@@ -2,13 +2,13 @@

 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.

-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.

 For each segment, openpilot records the following log types:

 ## rlog.zst

-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.

 ## {f,e,d}camera.hevc

@@ -20,7 +20,7 @@ Each camera stream is H.265 encoded and written to its respective file.

 ## qlog.zst & qcamera.ts

-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.

 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.

@@ -30,7 +30,7 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b

 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.

-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic

 # How do I port car?

@@ -5,7 +5,7 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*

-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.

 ## Replaying CAN data
 *Hardware required: jungle and comma four*
@@ -28,10 +28,10 @@ scons
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo

 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```

 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.

 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```

-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:

 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is

 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)

@@ -19,12 +19,12 @@ function agnos_init {

  # Check if AGNOS update is required
  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/tici/agnos.json"
    if $AGNOS_PY --verify $MANIFEST; then
      sudo reboot
    fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
 }

@@ -70,6 +70,14 @@ function launch {
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
  # hardware specific init
  if [ -f /AGNOS ]; then
    agnos_init
@@ -79,7 +87,7 @@ function launch {
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
-  cd system/manager
+  cd openpilot/system/manager
  if [ ! -f $DIR/prebuilt ]; then
    ./build.py
  fi
@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi

 exec ./launch_chffrplus.sh
@@ -1 +0,0 @@
-msgq_repo/msgq
@@ -1 +0,0 @@
-opendbc_repo/opendbc
@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks

 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline openpilot's cereal spec. 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
+[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

 An example of compatible changes:
 ```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
--- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
+--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
 }

 struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
+diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
--- a/cereal/log.capnp
-+++ b/cereal/log.capnp
+--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -2558,14 +2558,14 @@ struct Event {

     # DO change the name of the field
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging

 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])
@@ -0,0 +1,22 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
+
+# Build messaging
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')
@@ -0,0 +1,11 @@
+import os
+import capnp
+from importlib.resources import as_file, files
+
+capnp.remove_import_hook()
+
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+  CEREAL_PATH = fspath.as_posix()
+  opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");

@0xb526ba661d550a59;
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");

@0x80ef1ec4889c2a63;
@@ -760,18 +760,6 @@ struct LateralLQRState @0x9024e2d790c82ade {
  steeringAngleDesiredDeg @6 :Float32;
 }

-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
 struct LateralPlannerSolution @0x84caeca5a6b4acfe {
  x @0 :List(Float32);
  y @1 :List(Float32);
@@ -1,7 +1,7 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");

-using Car = import "car.capnp";
+using Car = import "/car.capnp";
 using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";

@@ -414,6 +414,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
  deviceType @45 :InitData.DeviceType;

+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
@@ -684,33 +688,47 @@ struct PeripheralState {
  }
 }

+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+  }
+}
+
 struct RadarState @0x9a185389d6fdd05f {
-  mdMonoTime @6 :UInt64;
-  carStateMonoTime @11 :UInt64;
+  mdMonoTime @6 :UInt64;  # for debugging
  radarErrors @13 :Car.RadarData.Error;

  leadOne @3 :LeadData;
  leadTwo @4 :LeadData;

  struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
+    dRel @0 :Float32;  # m from the front bumper of the car
+    yRel @1 :Float32;  # m in car frame, left positive
+    vRel @2 :Float32;  # m/s relative longitudinal speed
+    vLead @4 :Float32;  # m/s absolute lead speed
+    vLeadK @8 :Float32;  # kalman-filtered lead speed
+    aLeadK @9 :Float32;  # kalman-filtered lead accel
+    present @11 :Bool;  # true if a lead is present
+    aLeadTau @12 :Float32;  # lead accel time constant
+    modelProb @13 :Float32;  # vision model lead probability
+    radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
+    radarTrackId @15 :Int32 = -1;  # for debugging

    deprecated :group {
+      aRel @3 :Float32;
      aLead @5 :Float32;
+      dPath @6 :Float32;
+      vLat @7 :Float32;
+      fcw @10 :Bool;
    }
  }

@@ -723,6 +741,7 @@ struct RadarState @0x9a185389d6fdd05f {
    calPerc @9 :Int8;
    canMonoTimes @10 :List(UInt64);
    cumLagMs @5 :Float32;
+    carStateMonoTime @11 :UInt64;
    radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
  }
 }
@@ -771,13 +790,30 @@ struct SelfdriveState {
  alertStatus @5 :AlertStatus;
  alertSize @6 :AlertSize;
  alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
  alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;

  # configurable driving settings
  experimentalMode @10 :Bool;
  personality @11 :LongitudinalPersonality;

+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    preAlert @9;
+  }
+
  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
    preEnabled @1;
@@ -798,6 +834,10 @@ struct SelfdriveState {
    mid @2;
    full @3;
  }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }

 struct ControlsState @0x97ff69c53601abf1 {
@@ -818,7 +858,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    debugState @59 :LateralDebugState;
    torqueState @60 :LateralTorqueState;

-    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    curvatureState @65 :LateralCurvatureState;
    lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
    indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
  }
@@ -867,6 +907,18 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @3 :Bool;
  }

+  struct LateralCurvatureState @0xad9d8095c06f7c61 {
+    active @0 :Bool;
+    actualCurvature @1 :Float32;
+    desiredCurvature @2 :Float32;
+    error @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+  }
+
  deprecated :group {
    vEgo @0 :Float32;
    vEgoRaw @32 :Float32;
@@ -906,7 +958,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    alertStatus @38 :SelfdriveState.AlertStatus;
    alertSize @39 :SelfdriveState.AlertSize;
    alertType @44 :Text;
-    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
    engageable @41 :Bool;  # can OP be engaged?
    state @31 :SelfdriveState.OpenpilotState;
    enabled @19 :Bool;
@@ -989,7 +1041,6 @@ struct ModelDataV2 {
  roadEdgeStds @14 :List(Float32);

  # predicted lead cars
-  leads @11 :List(LeadDataV2);
  leadsV3 @18 :List(LeadDataV3);

  meta @12 :MetaData;
@@ -999,8 +1050,9 @@ struct ModelDataV2 {
  action @26: Action;

  lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
+  leadsDEPRECATED @11 :List(LeadDataV2DEPRECATED);

-  struct LeadDataV2 {
+  struct LeadDataV2DEPRECATED {
    prob @0 :Float32; # probability that car is your lead at time t
    t @1 :Float32;

@@ -1120,7 +1172,7 @@ struct EncodeIndex {
  }
 }

-struct AndroidLogEntry {
+struct OperatingSystemLogEntry {
  id @0 :UInt8;
  ts @1 :UInt64;
  priority @2 :UInt8;
@@ -1258,7 +1310,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
 struct LiveLocationKalman {

  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations

  positionECEF @0 : Measurement;
  positionGeodetic @1 : Measurement;
@@ -1315,7 +1367,7 @@ struct LiveLocationKalman {

 struct LivePose {
  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
  orientationNED @0 :XYZMeasurement;
  velocityDevice @1 :XYZMeasurement;
  accelerationDevice @2 :XYZMeasurement;
@@ -2108,8 +2160,10 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {

 struct DriverMonitoringState {
  lockout @0 :Bool;
-  alertCountLockoutPercent @1 :Int8;
-  alertTimeLockoutPercent @2 :Int8;
+  lockoutRecoveryPercent @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;

  alwaysOn @3 :Bool;
  alwaysOnLockout @4 :Bool;
@@ -2173,6 +2227,11 @@ struct DriverMonitoringState {
    calibratedPercent @0 :Int8;
    offset @1 :Float32;
  }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
 }

 struct Boot {
@@ -2247,6 +2306,7 @@ struct LiveDelayData {
  lateralDelayEstimateStd @5 :Float32;
  points @4 :List(Float32);
  calPerc @6 :Int8;
+  version @7 :Int32;

  enum Status {
    unestimated @0;
@@ -2504,7 +2564,7 @@ struct Event {
    rawAudioData @147 :AudioData;

    # systems stuff
-    androidLog @20 :AndroidLogEntry;
+    operatingSystemLog @20 :OperatingSystemLogEntry;
    managerState @78 :ManagerState;
    procLog @33 :ProcLog;
    clocks @35 :Clocks;
@@ -9,8 +9,8 @@ import time

 from typing import Optional, List, Union, Dict

-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage

 NO_TRAVERSAL_LIMIT = 2**64-1
@@ -1,7 +1,7 @@
 #include <cassert>

-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"

 ExitHandler do_exit;
@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"

 #include <cassert>
 #include <cstring>
@@ -8,7 +8,7 @@

 #include <capnp/serialize.h>

-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"

@@ -1,8 +1,8 @@
-#include "cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"

 #include <cassert>

-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"

 extern ExitHandler do_exit;
@@ -8,7 +8,7 @@
 #include <vector>

 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"

 class MsgqToZmq {
 public:
@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>

-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"

 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

@@ -8,9 +8,10 @@ import time
 from openpilot.common.parameterized import parameterized
 import pytest

-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST

 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]

@@ -2,11 +2,11 @@ import random
 import time
 from typing import Sized, cast

-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                  random_bytes, random_carstate, assert_carstate, \
                                                  zmq_sleep
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST


 class TestSubMaster:
@@ -1,10 +1,10 @@
-import os
+import subprocess
 import tempfile
-from typing import Dict
+
 from openpilot.common.parameterized import parameterized

-import cereal.services as services
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.services as services
+from openpilot.cereal.services import SERVICE_LIST


 class TestServices:
@@ -17,5 +17,5 @@ class TestServices:

  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
      assert ret == 0, "generated services header is not valid C"
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+"""Validate sunnypilot routes are parseable by stock commaai/openpilot.
+
+Cap'n Proto is wire-compatible across renames, type relocations, and
+additive fields. The only breaking change is a union variant that
+upstream doesn't recognize — an unknown discriminant makes the entire
+union unreadable.
+
+This script checks: for every struct with a union that exists in both
+schemas, does sunnypilot introduce union variants upstream doesn't have?
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+from typing import Any
+
+NO_DISCRIMINANT = 0xFFFF
+
+
+def hex_id(value: int) -> str:
+  return f"0x{value:016x}"
+
+
+def encode_struct(schema: Any) -> dict:
+  node = schema.node
+  fields = []
+  for name, field in schema.fields.items():
+    proto = field.proto
+    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
+  return {
+    "typeId": hex_id(node.id),
+    "displayName": node.displayName,
+    "hasUnion": node.struct.discriminantCount > 0,
+    "fields": fields,
+  }
+
+
+def _child_struct_schema(field: Any) -> Any:
+  proto = field.proto
+  if proto.which() == "group":
+    return field.schema
+  type_node = proto.slot.type
+  which = type_node.which()
+  if which == "struct":
+    return field.schema
+  if which == "list":
+    container = field.schema
+    element_type = type_node.list.elementType
+    while element_type.which() == "list":
+      container = container.elementType
+      element_type = element_type.list.elementType
+    if element_type.which() == "struct":
+      return container.elementType
+  return None
+
+
+def collect_schema(root: Any) -> dict[str, dict]:
+  structs: dict[str, dict] = {}
+  stack = [root]
+  while stack:
+    schema = stack.pop()
+    type_id = hex_id(schema.node.id)
+    if type_id in structs:
+      continue
+    structs[type_id] = encode_struct(schema)
+    for _name, field in schema.fields.items():
+      try:
+        child = _child_struct_schema(field)
+      except Exception:
+        child = None
+      if child is not None:
+        stack.append(child)
+  return structs
+
+
+def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
+
+
+def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
+  log = load_log(cereal_dir, extra_imports)
+  payload = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  with open(path, "w", encoding="utf-8") as handle:
+    json.dump(payload, handle, indent=2, sort_keys=True)
+  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
+
+
+def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
+  violations: list[str] = []
+  sunnypilot_structs = sunnypilot_dump["structs"]
+  upstream_structs = upstream_dump["structs"]
+
+  for type_id, sp_struct in sunnypilot_structs.items():
+    if not sp_struct["hasUnion"]:
+      continue
+    up_struct = upstream_structs.get(type_id)
+    if up_struct is None:
+      continue
+
+    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
+    display = sp_struct["displayName"]
+
+    for field in sp_struct["fields"]:
+      if field.get("discriminant") is None:
+        continue
+      if field["ordinal"] not in up_ordinals:
+        violations.append(
+          f"{display} @{field['ordinal']} '{field['name']}': "
+          f"union variant not present upstream (discriminant={field['discriminant']})"
+        )
+
+  return violations
+
+
+def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
+  log = load_log(cereal_dir, extra_imports)
+  with open(peer_path, "r", encoding="utf-8") as f:
+    peer_dump = json.load(f)
+  local_dump = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
+
+  if not violations:
+    print("cereal compat OK: upstream can parse sunnypilot routes.")
+    return 0
+
+  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
+  for v in violations:
+    print(f"  {v}")
+  return 1
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
+  mode = parser.add_mutually_exclusive_group(required=True)
+  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
+  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
+  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
+  args = parser.parse_args()
+
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file, args.import_path)
+    return 0
+  return run_read(args.cereal_dir, args.file, args.import_path)
+
+
+if __name__ == "__main__":
+  sys.exit(main())
@@ -41,7 +41,7 @@ _services: dict[str, tuple] = {
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
  "liveDelay": (True, 4., 1),
-  "androidLog": (True, 0.),
+  "operatingSystemLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
@@ -1 +0,0 @@
-../common
@@ -5,6 +5,7 @@ common_libs = [
  'swaglog.cc',
  'util.cc',
  'ratekeeper.cc',
+  'yuv.cc',
 ]

 _common = env.Library('common', common_libs, LIBS="json11")
@@ -12,7 +13,7 @@ Export('_common')

 if GetOption('extras'):
  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
+              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
              LIBS=[_common, 'json11', 'zmq', 'pthread'])

 # Cython bindings
@@ -3,8 +3,8 @@ import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.version import get_version

 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -1,4 +1,4 @@
 import os


-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../.."))
@@ -0,0 +1,3 @@
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+
+__all__ = ["LPABase", "LPAError", "LPAProfileNotFoundError", "Profile"]
@@ -0,0 +1,55 @@
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+
+
+class LPAError(RuntimeError):
+  pass
+
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
+
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
+
+class LPABase(ABC):
+  @abstractmethod
+  def list_profiles(self) -> list[Profile]:
+    pass
+
+  @abstractmethod
+  def get_active_profile(self) -> Profile | None:
+    pass
+
+  @abstractmethod
+  def delete_profile(self, iccid: str) -> None:
+    pass
+
+  @abstractmethod
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    pass
+
+  @abstractmethod
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    pass
+
+  @abstractmethod
+  def switch_profile(self, iccid: str) -> None:
+    pass
+
+  def process_notifications(self) -> None:
+    pass
+
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3

 import argparse
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.base import LPABase, Profile
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.esim.base import LPABase, Profile


 def sorted_profiles(lpa: LPABase) -> list[Profile]:
@@ -6,7 +6,6 @@ import fcntl
 import hashlib
 import os
 import requests
-import serial
 import subprocess
 import sys
 import termios
@@ -19,7 +18,8 @@ from typing import Any
 from pathlib import Path

 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+from openpilot.common.serial import Serial, SerialException

 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")

@@ -133,7 +133,7 @@ class AtClient:
    self._device = device
    self._baud = baud
    self._timeout = timeout
-    self._serial: serial.Serial | None = None
+    self._serial: Serial | None = None

  def send_raw(self, data: bytes) -> None:
    self._ensure_serial()
@@ -185,14 +185,14 @@ class AtClient:
        pass
      self._serial = None
    if self._serial is None:
-      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+      self._serial = Serial(self._device, baudrate=self._baud, timeout=self._timeout)

  def query(self, cmd: str) -> list[str]:
    self._ensure_serial()
    try:
      self._send(cmd)
      return self._expect()
-    except serial.SerialException:
+    except SerialException:
      self._ensure_serial(reconnect=True)
      self._send(cmd)
      return self._expect()
@@ -208,7 +208,7 @@ class AtClient:
    if self._serial:
      try:
        self._serial.reset_input_buffer()
-      except (OSError, serial.SerialException, termios.error):
+      except (OSError, SerialException, termios.error):
        self._ensure_serial(reconnect=True)
    for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
      if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
@@ -230,7 +230,7 @@ class AtClient:
      try:
        self._open_isdr_once()
        return
-      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+      except (RuntimeError, TimeoutError, termios.error, SerialException):
        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
        if attempt == OPEN_ISDR_RESET_ATTEMPT:
          self._reset_modem()
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import io
 import sys
 import math
 import os
@@ -21,13 +22,12 @@ def get_chunk_targets(path, file_size):

 def chunk_file(path, targets):
  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  with open(path, 'rb') as f:
+    for chunk_path in chunk_paths:
+      with open(chunk_path, 'wb') as out:
+        out.write(f.read(CHUNK_SIZE))
  Path(manifest_path).write_text(str(len(chunk_paths)))
  os.remove(path)

@@ -39,14 +39,40 @@ def get_existing_chunks(path):
    return _chunk_paths(path, num_chunks)
  raise FileNotFoundError(path)

-def read_file_chunked(path):
+class ChunkStream(io.RawIOBase):
+  def __init__(self, paths):
+    self._paths = iter(paths)
+    self._buf = memoryview(b'')
+
+  def readable(self):
+    return True
+
+  def readinto(self, b):
+    n = 0
+    while n < len(b):
+      if not self._buf:
+        p = next(self._paths, None)
+        if p is None:
+          break
+        with open(p, 'rb') as f:
+          self._buf = memoryview(f.read())
+        continue
+      take = min(len(b) - n, len(self._buf))
+      b[n:n + take] = self._buf[:take]
+      self._buf = self._buf[take:]
+      n += take
+    return n
+
+def open_file_chunked(path):
  manifest_path = get_manifest_path(path)
  if os.path.isfile(manifest_path):
    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)
+    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+  elif os.path.isfile(path):
+    paths = [path]
+  else:
+    raise FileNotFoundError(path)
+  return io.BufferedReader(ChunkStream(paths))


 if __name__ == "__main__":
@@ -1,9 +1,9 @@
 import os
 from typing import cast

-from openpilot.system.hardware.base import HardwareBase
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.pc.hardware import Pc
+from openpilot.common.hardware.base import HardwareBase
+from openpilot.common.hardware.tici.hardware import Tici
+from openpilot.common.hardware.pc.hardware import Pc

 TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')
@@ -5,15 +5,13 @@
 #include <map>
 #include <string>

-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"

 // no-op base hw class
 class HardwareNone {
 public:
  static std::string get_name() { return ""; }
  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
-  static int get_voltage() { return 0; }
-  static int get_current() { return 0; }

  static std::string get_serial() { return "cccccc"; }

@@ -24,6 +22,4 @@ public:
  static void set_ir_power(int percentage) {}

  static bool PC() { return false; }
-  static bool TICI() { return false; }
-  static bool AGNOS() { return false; }
 };
@@ -2,28 +2,12 @@ import os
 from abc import abstractmethod, ABC
 from dataclasses import dataclass, fields

-from cereal import log
+from openpilot.cereal import log
+from openpilot.common.esim.base import LPABase

 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength

-class LPAError(RuntimeError):
-  pass
-
-class LPAProfileNotFoundError(LPAError):
-  pass
-
-@dataclass
-class Profile:
-  iccid: str
-  nickname: str
-  enabled: bool
-  provider: str
-
-  @property
-  def is_comma(self) -> bool:
-    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
-
@dataclass
 class ThermalZone:
  # a zone from /sys/class/thermal/thermal_zone*
@@ -70,38 +54,6 @@ class ThermalConfig:
          ret[f.name + "TempC"] = v.read()
    return ret

-class LPABase(ABC):
-  @abstractmethod
-  def list_profiles(self) -> list[Profile]:
-    pass
-
-  @abstractmethod
-  def get_active_profile(self) -> Profile | None:
-    pass
-
-  @abstractmethod
-  def delete_profile(self, iccid: str) -> None:
-    pass
-
-  @abstractmethod
-  def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    pass
-
-  @abstractmethod
-  def nickname_profile(self, iccid: str, nickname: str) -> None:
-    pass
-
-  @abstractmethod
-  def switch_profile(self, iccid: str) -> None:
-    pass
-
-  def process_notifications(self) -> None:
-    pass
-
-  @abstractmethod
-  def is_euicc(self) -> bool:
-    pass
-
 class HardwareBase(ABC):
  @staticmethod
  def get_cmdline() -> dict[str, str]:
@@ -133,7 +85,7 @@ class HardwareBase(ABC):
  def get_device_type(self):
    pass

-  def get_imei(self, slot) -> str:
+  def get_imei(self) -> str:
    return ""

  def get_serial(self):
@@ -190,21 +142,12 @@ class HardwareBase(ABC):
  def get_gpu_usage_percent(self):
    return 0

-  def get_modem_version(self):
-    return None
-
  def get_modem_temperatures(self):
    return []

  def initialize_hardware(self):
    pass

-  def get_networks(self):
-    return None
-
-  def has_internal_panda(self) -> bool:
-    return False
-
  def reset_internal_panda(self):
    pass

@@ -214,11 +157,5 @@ class HardwareBase(ABC):
  def get_modem_data_usage(self):
    return -1, -1

-  def get_voltage(self) -> float:
-    return 0.
-
-  def get_current(self) -> float:
-    return 0.
-
  def set_ir_power(self, percent: int):
    pass
@@ -2,14 +2,14 @@

 #include <string>

-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 #include "common/util.h"

 #if __TICI__
-#include "system/hardware/tici/hardware.h"
+#include "common/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
-#include "system/hardware/pc/hardware.h"
+#include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC
 #endif

@@ -2,7 +2,7 @@ import os
 import platform
 from pathlib import Path

-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC

 DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"

@@ -2,13 +2,11 @@

 #include <string>

-#include "system/hardware/base.h"
+#include "common/hardware/base.h"

 class HardwarePC : public HardwareNone {
 public:
  static std::string get_name() { return "pc"; }
  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
  static bool PC() { return true; }
-  static bool TICI() { return util::getenv("TICI", 0) == 1; }
-  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
 };
@@ -0,0 +1,10 @@
+from openpilot.cereal import log
+from openpilot.common.hardware.base import HardwareBase
+
+class Pc(HardwareBase):
+  def get_device_type(self):
+    return "pc"
+
+  def get_network_type(self):
+    # some stuff is gated on wifi, so just assume for now
+    return log.DeviceState.NetworkType.wifi
@@ -0,0 +1 @@
+
@@ -10,12 +10,9 @@ from collections.abc import Generator

 import requests

-import openpilot.system.updated.casync.casync as casync
-
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
-CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"

-AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
+AGNOS_MANIFEST_FILE = "openpilot/system/hardware/tici/agnos.json"


 class StreamingDecompressor:
@@ -187,50 +184,6 @@ def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog)
    os.sync()


-def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
-  path = get_partition_path(target_slot_number, partition)
-  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
-
-  target = casync.parse_caibx(partition['casync_caibx'])
-
-  sources: list[tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
-
-  # First source is the current partition.
-  try:
-    raw_hash = get_raw_hash(seed_path, partition['size'])
-    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
-
-    try:
-      cloudlog.info(f"casync fetching {caibx_url}")
-      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
-    except requests.RequestException:
-      cloudlog.error(f"casync failed to load {caibx_url}")
-  except Exception:
-    cloudlog.exception("casync failed to hash seed partition")
-
-  # Second source is the target partition, this allows for resuming
-  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
-
-  # Finally we add the remote source to download any missing chunks
-  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
-
-  last_p = 0
-
-  def progress(cur):
-    nonlocal last_p
-    p = int(cur / partition['size'] * 100)
-    if p != last_p:
-      last_p = p
-      print(f"Installing {partition['name']}: {p}", flush=True)
-
-  stats = casync.extract(target, sources, path, progress)
-  cloudlog.error(f'casync done {json.dumps(stats)}')
-
-  os.sync()
-  if not verify_partition(target_slot_number, partition, force_full_check=True):
-    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
-
-
 def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
  cloudlog.info(f"Downloading and writing {partition['name']}")

@@ -245,10 +198,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalo

  path = get_partition_path(target_slot_number, partition)

-  if ('casync_caibx' in partition) and not standalone:
-    extract_casync_image(target_slot_number, partition, cloudlog)
-  else:
-    extract_compressed_image(target_slot_number, partition, cloudlog)
+  extract_compressed_image(target_slot_number, partition, cloudlog)

  # Write hash after successful flash
  if not full_check:
@@ -278,7 +228,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, st
  cloudlog.info(f"Target slot {target_slot_number}")

  # set target slot as unbootable
-  os.system(f"abctl --set_unbootable {target_slot_number}")
+  subprocess.run(f"abctl --set_unbootable {target_slot_number}", shell=True)

  for partition in update:
    success = False
@@ -1,6 +1,5 @@
 #pragma once

-#include <cstdlib>
 #include <cassert>
 #include <fstream>
 #include <map>
@@ -8,7 +7,7 @@
 #include <algorithm>  // for std::clamp

 #include "common/util.h"
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"

 class HardwareTici : public HardwareNone {
 public:
@@ -22,7 +21,6 @@ public:

  static cereal::InitData::DeviceType get_device_type() {
    static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
-      {"tici", cereal::InitData::DeviceType::TICI},
      {"tizi", cereal::InitData::DeviceType::TIZI},
      {"mici", cereal::InitData::DeviceType::MICI}
    };
@@ -31,9 +29,6 @@ public:
    return it->second;
  }

-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
-
  static std::string get_serial() {
    static std::string serial("");
    if (serial.empty()) {
@@ -54,8 +49,7 @@ public:

  static void set_ir_power(int percent) {
    auto device = get_device_type();
-    if (device == cereal::InitData::DeviceType::TICI ||
-        device == cereal::InitData::DeviceType::TIZI) {
+    if (device == cereal::InitData::DeviceType::TIZI) {
      return;
    }

@@ -7,14 +7,14 @@ import time
 from functools import cached_property, lru_cache
 from pathlib import Path

-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
-from openpilot.system.hardware.tici import iwlist
-from openpilot.system.hardware.tici.lpa import TiciLPA
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.system.hardware.tici.amplifier import Amplifier
+from openpilot.common.esim.base import LPABase
+from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.common.esim.lpa import TiciLPA
+from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.amplifier import Amplifier

 MODEM_STATE_PATH = "/dev/shm/modem"

@@ -147,9 +147,7 @@ class Tici(HardwareBase):
  def get_sim_lpa(self) -> LPABase:
    return TiciLPA()

-  def get_imei(self, slot):
-    if slot != 0:
-      return ""
+  def get_imei(self):
    return self.get_modem_state().get('imei', '')

  def get_network_info(self):
@@ -233,9 +231,6 @@ class Tici(HardwareBase):

    return super().get_network_metered(network_type)

-  def get_modem_version(self):
-    return self.get_modem_state().get('modem_version') or None
-
  def get_modem_temperatures(self):
    return self.get_modem_state().get('temperatures', [])

@@ -246,7 +241,7 @@ class Tici(HardwareBase):
    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)

  def shutdown(self):
-    os.system("sudo poweroff")
+    subprocess.run("sudo poweroff", shell=True)

  def get_thermal_config(self):
    intake, exhaust, gnss, bottomSoc = None, None, None, None
@@ -313,6 +308,9 @@ class Tici(HardwareBase):
        continue
      gov = 'ondemand' if powersave_enabled else 'performance'
      sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
+      if not powersave_enabled:
+        # cap max core freq to 1689 Mhz
+        sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')

    # *** IRQ config ***

@@ -337,7 +335,7 @@ class Tici(HardwareBase):
      self.amplifier.initialize_configuration()

    # Allow hardwared to write engagement status to kmsg
-    os.system("sudo chmod a+w /dev/kmsg")
+    subprocess.run("sudo chmod a+w /dev/kmsg", shell=True)

    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
    gpio_init(GPIO.SOM_ST_IO, True)
@@ -380,43 +378,13 @@ class Tici(HardwareBase):
      pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
      subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
      subprocess.call(["sudo", "taskset", "-pc", "3", pid])
-    except subprocess.CalledProcessException as e:
+    except subprocess.CalledProcessError as e:
      print(str(e))

-  def get_networks(self):
-    r = {}
-
-    wlan = iwlist.scan()
-    if wlan is not None:
-      r['wlan'] = wlan
-
-    lte_info = self.get_network_info()
-    if lte_info is not None:
-      extra = lte_info['extra']
-
-      # <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
-      # <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
-      if 'LTE' in extra:
-        extra = extra.split(',')
-        try:
-          r['lte'] = [{
-            "mcc": int(extra[3]),
-            "mnc": int(extra[4]),
-            "cid": int(extra[5], 16),
-            "nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
-          }]
-        except (ValueError, IndexError):
-          pass
-
-    return r
-
  def get_modem_data_usage(self):
    ms = self.get_modem_state()
    return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)

-  def has_internal_panda(self):
-    return True
-
  def reset_internal_panda(self):
    gpio_init(GPIO.STM_RST_N, True)
    gpio_init(GPIO.STM_BOOT0, True)
--- a/Show More
+++ b/Show More