From b9f9854743676b7c8f8b9a20cef0e6a9fdd01206 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 14:49:13 -0700
Subject: [PATCH 01/55] maneuversd: run start from stop maneuver for longer

---
 tools/longitudinal_maneuvers/maneuversd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 88ea54378f..8bcfa69a14 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -80,7 +80,7 @@ MANEUVERS = [
   ),
   Maneuver(
    "start from stop",
-   [Action(1.5, 3)],
+   [Action(1.5, 5)],
    repeat=3,
    initial_speed=0.,
   ),
@@ -91,7 +91,7 @@ MANEUVERS = [
      Action(1, 2), Action(-1, 2),
      Action(1, 2), Action(-1, 2),
    ],
-   repeat=1,
+   repeat=2,
    initial_speed=0.,
   ),
   Maneuver(

From 6b232cf91f05385e5964a56f346a18f55d43d9da Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 17:48:34 -0700
Subject: [PATCH 02/55] maneuversd: run creep test for slightly longer

---
 tools/longitudinal_maneuvers/maneuversd.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 8bcfa69a14..07582c3e6c 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -87,9 +87,9 @@ MANEUVERS = [
   Maneuver(
    "creep: alternate between +1m/s^2 and -1m/s^2",
    [
-     Action(1, 2), Action(-1, 2),
-     Action(1, 2), Action(-1, 2),
-     Action(1, 2), Action(-1, 2),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
    ],
    repeat=2,
    initial_speed=0.,

From f7b800673b314742211490b2890749a7e83930e7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 17:49:09 -0700
Subject: [PATCH 03/55] smaller legend in the report

---
 tools/longitudinal_maneuvers/generate_report.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index a396e51127..eb8c13271a 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -92,7 +92,7 @@ def report(platform, route, _description, CP, maneuvers):
         # TODO localizer accel
         ax[0].set_ylabel('Acceleration (m/s^2)')
         #ax[0].set_ylim(-6.5, 6.5)
-        ax[0].legend()
+        ax[0].legend(prop={'size': 30})
 
         if target_cross_time is not None:
           ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')

From df529de1d0e469df5b59625420370a5197de17bd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 21:26:54 -0700
Subject: [PATCH 04/55] Lexus ES TSS2: improve start from stop response time
 (#33666)

* bump

* docs
---
 docs/CARS.md | 2 +-
 opendbc_repo | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 072e366e98..43bd18cdcd 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -53,7 +53,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index d2ca1860d8..b556672f9c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d2ca1860d894c246758b22551a6f7d322ba1cae0
+Subproject commit b556672f9cb714fc05ac4af252dfabcf6865d27a

From 04a266eaebcf0787f28cd4a5453a1c064517748a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 27 Sep 2024 22:48:32 -0700
Subject: [PATCH 05/55] Game Boy Model (#33661)

* 559069cd-40a6-4456-9052-08659f376ca3/370

* 028fb9bc-b33e-4c26-9cf7-e3c44a85276a/400

* Update ref

* Update tolerance
---
 selfdrive/modeld/constants.py                 | 20 +++++++++----------
 selfdrive/modeld/models/supercombo.onnx       |  4 ++--
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../process_replay/model_replay_ref_commit    |  2 +-
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 4d2888d231..82161a5b67 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -72,14 +72,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 41, 8)
-  BRAKE_DISENGAGE = slice(2, 41, 8)
-  STEER_OVERRIDE = slice(3, 41, 8)
-  HARD_BRAKE_3 = slice(4, 41, 8)
-  HARD_BRAKE_4 = slice(5, 41, 8)
-  HARD_BRAKE_5 = slice(6, 41, 8)
-  GAS_PRESS = slice(7, 41, 8)
-  BRAKE_PRESS = slice(8, 41, 8)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(41, 53, 2)
-  RIGHT_BLINKER = slice(42, 53, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 111cb76dbb..f8002d5a91 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d42319e42e8ba1a818c845ee0c687ece6afd98e59fef142895be33dd230974c2
-size 62481231
+oid sha256:0dab94dc94db5e372f56d26f9dda98bd31fd76e4c16027da611132263848d0c1
+size 62486347
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index ead3a3b4b5..af05ff5e44 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -129,7 +129,7 @@ if __name__ == "__main__":
         for i in range(4):
           for field in ('x', 'y', 'z', 't'):
             ignore.append(f'modelV2.laneLines.{i}.{field}')
-      tolerance = .2 if PC else None
+      tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 3e4f435964..9e62d47538 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-7cd64f431b814adfa11118643efe3822c496922b
+68279894530723a9129c64e8e771018bc4dda6b3

From 368bc74dfd13dbd91856478c9b5f56fc009dff05 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 27 Sep 2024 23:30:49 -0700
Subject: [PATCH 06/55] bump opendbc

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index b556672f9c..173ab90402 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b556672f9cb714fc05ac4af252dfabcf6865d27a
+Subproject commit 173ab90402f85c07cd65750c7f31cc97a8b07d59

From 33952d0a602e45c2b7d1c6e4386d340625a5bcbf Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Sat, 28 Sep 2024 13:21:48 -0700
Subject: [PATCH 07/55] `ui`: auto-expand summary when diff is present.
 (#33668)

* ui: use details open when diff is present

* remove comment
---
 .github/workflows/ui_preview.yaml | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index a2033f8180..24956516f8 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -88,14 +88,15 @@ jobs:
           A=($scenes)
 
           DIFF=""
-          TABLE="<details>"
-          TABLE="${TABLE}<summary>All Screenshots</summary>"
+          open=false
+          TABLE="<summary>All Screenshots</summary>"
           TABLE="${TABLE}<table>"
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
 
             if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
@@ -134,7 +135,11 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
-
+          if open; then
+            TABLE="<details open>${TABLE}"
+          else
+            TABLE="<details>${TABLE}"
+          fi
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui

From 4da090a4e1972eb1c70b4847f729b28ba805af64 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sat, 28 Sep 2024 15:33:01 -0700
Subject: [PATCH 08/55] Game Boy Model V2 (#33669)

* 78cec5a0-577b-49ac-b443-f7cd327649bd/400

* ref commit
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index f8002d5a91..8b7126c44a 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0dab94dc94db5e372f56d26f9dda98bd31fd76e4c16027da611132263848d0c1
+oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
 size 62486347
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 9e62d47538..2faabd0587 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-68279894530723a9129c64e8e771018bc4dda6b3
+ff10a803005f5116a8f3d88629503bc52b15b93f

From edf9522bc064aa30b348e53c674b052c860cc9fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sat, 28 Sep 2024 18:34:31 -0700
Subject: [PATCH 09/55] Model and YUV pipeline to uint8 (#33671)

* Squash

* 78cec5a0-577b-49ac-b443-f7cd327649bd/400

* bump tinygrad
---
 selfdrive/modeld/models/commonmodel.cc      | 14 +++++++-------
 selfdrive/modeld/models/commonmodel.h       |  4 ++--
 selfdrive/modeld/models/commonmodel.pxd     |  2 +-
 selfdrive/modeld/models/commonmodel_pyx.pyx |  4 ++--
 selfdrive/modeld/models/supercombo.onnx     |  4 ++--
 selfdrive/modeld/transforms/loadyuv.cl      | 18 ++++++++----------
 tinygrad_repo                               |  2 +-
 7 files changed, 23 insertions(+), 25 deletions(-)

diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 57c14dfa88..d2d37bbc5a 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -7,28 +7,28 @@
 #include "common/clutil.h"
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
 
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(uint8_t), NULL, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
   transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
   if (output == NULL) {
     loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
 
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(uint8_t) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 0b5d87fd6c..ea39466670 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -20,7 +20,7 @@ class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -32,5 +32,5 @@ private:
   LoadYUVState loadyuv;
   cl_command_queue q;
   cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
+  std::unique_ptr<uint8_t[]> input_frames;
 };
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index f37014219d..3348af3f17 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -15,4 +15,4 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index 46ac575cc2..99f9c5dc17 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -35,11 +35,11 @@ cdef class ModelFrame:
   def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
+    cdef unsigned char * data
     if output is None:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
     else:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
     if not data:
       return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 8b7126c44a..aeb3ea3b2b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
-size 62486347
+oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
+size 62486469
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
index 7dd3d973a3..3a6b3ebc4f 100644
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -1,7 +1,7 @@
 #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
 
 __kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
+                     __global uchar * out,
                      int out_offset)
 {
     const int gid = get_global_id(0);
@@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y,
     const int ox = ois % TRANSFORMED_WIDTH;
 
     const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
 
     // 02
     // 13
 
-    __global float* outy0;
-    __global float* outy1;
+    __global uchar* outy0;
+    __global uchar* outy1;
     if ((oy & 1) == 0) {
       outy0 = out + out_offset; //y0
       outy1 = out + out_offset + UV_SIZE*2; //y2
@@ -25,21 +24,20 @@ __kernel void loadys(__global uchar8 const * const Y,
       outy1 = out + out_offset + UV_SIZE*3; //y3
     }
 
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
 }
 
 __kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
+                     __global uchar8 * out,
                      int out_offset)
 {
   const int gid = get_global_id(0);
   const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
+  out[gid + out_offset / 8] = inv;
 }
 
-__kernel void copy(__global float8 * inout,
+__kernel void copy(__global uchar8 * inout,
                    int in_offset)
 {
   const int gid = get_global_id(0);
diff --git a/tinygrad_repo b/tinygrad_repo
index 3e15fa0dae..9dda6d260d 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 3e15fa0daefae75e2ddef98f82be5b5d37820631
+Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1

From ce0e3d5603ff2716d33d0c162f7bf69905ba493c Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Sun, 29 Sep 2024 08:54:03 -0700
Subject: [PATCH 10/55] `ci`: fix if conditional in ui preview (#33673)

fix if conditional
---
 .github/workflows/ui_preview.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 24956516f8..972a96dc39 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -135,7 +135,7 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
-          if open; then
+          if $open; then
             TABLE="<details open>${TABLE}"
           else
             TABLE="<details>${TABLE}"

From 8bb7a8d310c24c52d859add9dbbb1dc462f5f5ea Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Sun, 29 Sep 2024 10:03:29 -0700
Subject: [PATCH 11/55] Assets/icon: Rm redundant PNG file (#33565)

Rm redundant file - use existing png to replace

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/assets/offroad/icon_openpilot.png | 3 ---
 selfdrive/ui/qt/offroad/settings.cc         | 2 +-
 2 files changed, 1 insertion(+), 4 deletions(-)
 delete mode 100644 selfdrive/assets/offroad/icon_openpilot.png

diff --git a/selfdrive/assets/offroad/icon_openpilot.png b/selfdrive/assets/offroad/icon_openpilot.png
deleted file mode 100644
index ae6faa45ea..0000000000
--- a/selfdrive/assets/offroad/icon_openpilot.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a3cd3b91673eded1282e2082be0efa8e54ed477b5feb3580e521d08078e18ed1
-size 42640
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 7024a2a802..a2b91534dd 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -22,7 +22,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "OpenpilotEnabledToggle",
       tr("Enable openpilot"),
       tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
-      "../assets/offroad/icon_openpilot.png",
+      "../assets/img_chffr_wheel.png",
     },
     {
       "ExperimentalLongitudinalEnabled",

From 2cb526a5a9fc49a3f0d0fce61248ac6253030cb4 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 30 Sep 2024 01:06:34 +0800
Subject: [PATCH 12/55] camerad: refactor gain index loop for clarity (#33613)

* Refactor Gain Index Loop for Clarity

* Update system/camerad/cameras/camera_qcom2.cc

* Update system/camerad/cameras/camera_qcom2.cc

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/camerad/cameras/camera_qcom2.cc | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 1bbd8202b2..3d5507add9 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -178,9 +178,10 @@ void CameraState::set_camera_exposure(float grey_frac) {
     new_exp_t = exposure_time;
     enable_dc_gain = false;
   } else {
-    // Simple brute force optimizer to choose sensor parameters
-    // to reach desired EV
-    for (int g = std::max((int)sensor->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)sensor->analog_gain_max_idx, gain_idx + 1); g++) {
+    // Simple brute force optimizer to choose sensor parameters to reach desired EV
+    int min_g = std::max(gain_idx - 1, sensor->analog_gain_min_idx);
+    int max_g = std::min(gain_idx + 1, sensor->analog_gain_max_idx);
+    for (int g = min_g; g <= max_g; g++) {
       float gain = sensor->sensor_analog_gains[g] * get_gain_factor();
 
       // Compute optimal time for given gain

From f99d81d0faf24b33793edf26ba02c00ecbe1f7f7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 29 Sep 2024 10:10:57 -0700
Subject: [PATCH 13/55] remove cars from stale blacklist

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

diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index f7f92a0387..d0dead5126 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -21,7 +21,7 @@ jobs:
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 

From 3c456f5b8ddb63f6b75986226c0640e2a048ecca Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 30 Sep 2024 01:15:26 +0800
Subject: [PATCH 14/55] submaster: improve avg frequency calculation for
 efficiency (#33516)

improve avg freq calculation for efficiency
---
 cereal/messaging/__init__.py | 21 +++++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 0c420e94e0..2466f6e9c0 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -109,12 +109,26 @@ class FrequencyTracker:
     self.min_freq = min_freq * 0.8
     self.max_freq = max_freq * 1.2
     self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
+    self.recv_dts_sum = 0.0
+    self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
+    self.recent_recv_dts_sum = 0.0
     self.prev_time = 0.0
 
   def record_recv_time(self, cur_time: float) -> None:
     # TODO: Handle case where cur_time is less than prev_time
     if self.prev_time > 1e-5:
-      self.recv_dts.append(cur_time - self.prev_time)
+      dt = cur_time - self.prev_time
+
+      if len(self.recv_dts) == self.recv_dts.maxlen:
+        self.recv_dts_sum -= self.recv_dts[0]
+      self.recv_dts.append(dt)
+      self.recv_dts_sum += dt
+
+      if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
+        self.recent_recv_dts_sum -= self.recent_recv_dts[0]
+      self.recent_recv_dts.append(dt)
+      self.recent_recv_dts_sum += dt
+
     self.prev_time = cur_time
 
   @property
@@ -122,12 +136,11 @@ class FrequencyTracker:
     if not self.recv_dts:
       return False
 
-    avg_freq = len(self.recv_dts) / sum(self.recv_dts)
+    avg_freq = len(self.recv_dts) / self.recv_dts_sum
     if self.min_freq <= avg_freq <= self.max_freq:
       return True
 
-    recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
-    avg_freq_recent = len(recent_dts) / sum(recent_dts)
+    avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
     return self.min_freq <= avg_freq_recent <= self.max_freq
 
 

From 3b6f1a0b39419ab7b2e68226934c7db3e0fa7b1a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 29 Sep 2024 10:55:39 -0700
Subject: [PATCH 15/55] test_onroad: update CPU usages after recent changes

---
 selfdrive/test/test_onroad.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 964848e3d3..b99662df78 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -36,19 +36,19 @@ CPU usage budget
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 18.0,
-  "selfdrive.selfdrived.selfdrived": 21.0,
+  "selfdrive.controls.controlsd": 16.0,
+  "selfdrive.selfdrived.selfdrived": 16.0,
   "selfdrive.car.card": 30.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
-  "selfdrive.controls.plannerd": 11.0,
+  "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 17.0,
-  "selfdrive.modeld.dmonitoringmodeld": 8.0,
+  "selfdrive.modeld.dmonitoringmodeld": 11.0,
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,

From a2b3b1540ded1a4476a028ff2dd549ae10caeadf Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 19:48:31 -0700
Subject: [PATCH 16/55] onnx model needs cast

---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index aeb3ea3b2b..100fd14c98 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
+oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
 size 62486469

From 390eee0717344b6c59e2478d2e96e998e3f1230b Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 20:02:32 -0700
Subject: [PATCH 17/55] Revert "onnx model needs cast"

This reverts commit a2b3b1540ded1a4476a028ff2dd549ae10caeadf.
---
 selfdrive/modeld/models/supercombo.onnx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 100fd14c98..aeb3ea3b2b 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
+oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
 size 62486469

From 3b08501db379d4f718e7a76a249f1a0cf8f25db7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 20:33:35 -0700
Subject: [PATCH 18/55] Game Boy Model V3 (#33674)

* f4afab38-2ee3-4a71-904a-f2e5d4ec119a/400

* Model replay

* fix onnx cast

* tol
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay.py         | 3 +++
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index aeb3ea3b2b..100fd14c98 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
+oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
 size 62486469
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index af05ff5e44..9ee1b6be4e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -129,6 +129,9 @@ if __name__ == "__main__":
         for i in range(4):
           for field in ('x', 'y', 'z', 't'):
             ignore.append(f'modelV2.laneLines.{i}.{field}')
+        for i in range(2):
+          for field in ('x', 'y', 'z', 't'):
+            ignore.append(f'modelV2.roadEdges.{i}.{field}')
       tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2faabd0587..182a17c7b7 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-ff10a803005f5116a8f3d88629503bc52b15b93f
+76b8121429ad69d6548f744a39680ade324947e2

From 19bd96004e8e8de1e9923358c2b92ce64be10897 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 29 Sep 2024 23:23:16 -0700
Subject: [PATCH 19/55] Cleanup shift (#33677)

* Cleanup shift code

* Unsafe buffer copy

* fix bugs
---
 selfdrive/modeld/models/commonmodel.cc | 13 +++++++------
 selfdrive/modeld/models/commonmodel.h  |  1 +
 selfdrive/modeld/transforms/loadyuv.cc | 22 ++++++++++++----------
 selfdrive/modeld/transforms/loadyuv.cl |  8 +++++---
 selfdrive/modeld/transforms/loadyuv.h  |  6 +++++-
 5 files changed, 30 insertions(+), 20 deletions(-)

diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index d2d37bbc5a..a188a4ebd3 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -13,7 +13,7 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(uint8_t), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
@@ -24,15 +24,16 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
+  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
   if (output == NULL) {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
-
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(uint8_t) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], frame_size_bytes);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
+    copy_queue(&loadyuv, q, *output, *output, frame_size_bytes, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, net_input_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+
     // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
     clFinish(q);
     return NULL;
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index ea39466670..fb527fc7a1 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -26,6 +26,7 @@ public:
   const int MODEL_HEIGHT = 256;
   const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
   const int buf_size = MODEL_FRAME_SIZE * 2;
+  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
 private:
   Transform transform;
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
index c7ce7b0830..c93f5cd038 100644
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) {
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift) {
+                   cl_mem out_cl) {
   cl_int global_out_off = 0;
-  if (do_shift) {
-    // shift the image in slot 1 to slot 0, then place the new image in slot 1
-    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
-    const size_t copy_work_size = global_out_off/8;
-    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                                &copy_work_size, NULL, 0, 0, NULL));
-  }
 
   CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
   CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
@@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
   CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
                                &loaduv_work_size, NULL, 0, 0, NULL));
 }
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size) {
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
+  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
+  const size_t copy_work_size = size/8;
+  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                              &copy_work_size, NULL, 0, 0, NULL));
+}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
index 3a6b3ebc4f..970187a6d7 100644
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -37,9 +37,11 @@ __kernel void loaduv(__global uchar8 const * const in,
   out[gid + out_offset / 8] = inv;
 }
 
-__kernel void copy(__global uchar8 * inout,
-                   int in_offset)
+__kernel void copy(__global uchar8 * in,
+                   __global uchar8 * out,
+                   int in_offset,
+                   int out_offset)
 {
   const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
+  out[gid + out_offset / 8] = in[gid + in_offset / 8];
 }
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
index 7d27ef5d46..659059cd25 100644
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s);
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift = false);
+                   cl_mem out_cl);
+
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file

From d4e257213d0c7b097e5b1f0d3c983a0a3e7b7137 Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Mon, 30 Sep 2024 00:05:28 -0700
Subject: [PATCH 20/55] Modeld: cannot run without wide img

---
 selfdrive/modeld/modeld.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 86813fcb8e..abaaf299f7 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -96,8 +96,7 @@ class ModelState:
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    if wbuf is not None:
-      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
+    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
 
     if prepare_only:
       return None

From 4a2c24b5b37dcafa67a11142ac8d0cdca6720586 Mon Sep 17 00:00:00 2001
From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com>
Date: Mon, 30 Sep 2024 08:59:39 -0700
Subject: [PATCH 21/55] `CI`: fix if conditional in `ui_preview.yaml` (#33675)

* fix if conditional

* open

* open fix
---
 .github/workflows/ui_preview.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 972a96dc39..13337bacbe 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -135,11 +135,13 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
+
           if $open; then
             TABLE="<details open>${TABLE}"
           else
             TABLE="<details>${TABLE}"
           fi
+
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui

From c6cd23210cc156f9e474a8065c5ade45d14602c3 Mon Sep 17 00:00:00 2001
From: ugtthis <142481257+ugtthis@users.noreply.github.com>
Date: Mon, 30 Sep 2024 09:00:00 -0700
Subject: [PATCH 22/55] prime.cc/typo: Fixes variable name typo (#33678)

Fixes variable name typo
---
 selfdrive/ui/qt/widgets/prime.cc | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 9bc96fcdad..62f5c0ab50 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -180,20 +180,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   QFrame* finishRegistration = new QFrame;
   finishRegistration->setObjectName("primeWidget");
-  QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration);
-  finishRegistationLayout->setSpacing(38);
-  finishRegistationLayout->setContentsMargins(64, 48, 64, 48);
+  QVBoxLayout* finishRegistrationLayout = new QVBoxLayout(finishRegistration);
+  finishRegistrationLayout->setSpacing(38);
+  finishRegistrationLayout->setContentsMargins(64, 48, 64, 48);
 
   QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
-  finishRegistationLayout->addWidget(registrationTitle);
+  finishRegistrationLayout->addWidget(registrationTitle);
 
   QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
   registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
-  finishRegistationLayout->addWidget(registrationDescription);
+  finishRegistrationLayout->addWidget(registrationDescription);
 
-  finishRegistationLayout->addStretch();
+  finishRegistrationLayout->addStretch();
 
   QPushButton* pair = new QPushButton(tr("Pair device"));
   pair->setStyleSheet(R"(
@@ -208,7 +208,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
       background-color: #3049F4;
     }
   )");
-  finishRegistationLayout->addWidget(pair);
+  finishRegistrationLayout->addWidget(pair);
 
   popup = new PairingPopup(this);
   QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec);

From b4cf9c09888a7e85ada4096a2b7e331c860df86d Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 30 Sep 2024 13:46:04 -0700
Subject: [PATCH 23/55] [bot] Update Python packages (#33679)

* Update Python packages

* thats unfortunate

* global

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 SConstruct   |   4 +
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 326 ++++++++++++++++++++++++++-------------------------
 4 files changed, 172 insertions(+), 162 deletions(-)

diff --git a/SConstruct b/SConstruct
index fea47440cf..8aa46b9359 100644
--- a/SConstruct
+++ b/SConstruct
@@ -64,6 +64,10 @@ AddOption('--pc-thneed',
           dest='pc_thneed',
           help='use thneed on pc')
 
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
 AddOption('--minimal',
           action='store_false',
           dest='extras',
diff --git a/opendbc_repo b/opendbc_repo
index 173ab90402..6a35629a6b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 173ab90402f85c07cd65750c7f31cc97a8b07d59
+Subproject commit 6a35629a6b5f55167ed9d9923411ce9e49e6a76f
diff --git a/panda b/panda
index 2037a2ead7..08c95bf47b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2037a2ead7257deadf6165734fd19b9b87de6eb7
+Subproject commit 08c95bf47ba6d0c5d11a7616e42e10b8dbde19eb
diff --git a/uv.lock b/uv.lock
index 2be225145b..81c6fa00c2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -11,16 +11,16 @@ resolution-markers = [
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.4.0"
+version = "2.4.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2d/f7/22bba300a16fd1cad99da1a23793fe43963ee326d012fdf852d0b4035955/aiohappyeyeballs-2.4.0.tar.gz", hash = "sha256:55a1714f084e63d49639800f95716da97a1f173d46a16dfcfda0016abb93b6b2", size = 16786 }
+sdist = { url = "https://files.pythonhosted.org/packages/c7/d9/e710a5c9e51b4d5a977c823ce323a81d344da8c1b6fba16bb270a8be800d/aiohappyeyeballs-2.4.2.tar.gz", hash = "sha256:4ca893e6c5c1f5bf3888b04cb5a3bee24995398efef6e0b9f747b5e89d84fd74", size = 18391 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/18/b6/58ea188899950d759a837f9a58b2aee1d1a380ea4d6211ce9b1823748851/aiohappyeyeballs-2.4.0-py3-none-any.whl", hash = "sha256:7ce92076e249169a13c2f49320d1967425eaf1f407522d707d59cac7628d62bd", size = 12155 },
+    { url = "https://files.pythonhosted.org/packages/13/64/40165ff77ade5203284e3015cf88e11acb07d451f6bf83fff71192912a0d/aiohappyeyeballs-2.4.2-py3-none-any.whl", hash = "sha256:8522691d9a154ba1145b157d6d5c15e5c692527ce6a53c5e5f9876977f6dab2f", size = 14105 },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.10.5"
+version = "3.10.8"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,53 +30,53 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/ca/28/ca549838018140b92a19001a8628578b0f2a3b38c16826212cc6f706e6d4/aiohttp-3.10.5.tar.gz", hash = "sha256:f071854b47d39591ce9a17981c46790acb30518e2f83dfca8db2dfa091178691", size = 7524360 }
+sdist = { url = "https://files.pythonhosted.org/packages/4e/05/da5ff89c85444a6ade9079e73580fb3f78c6ba0e170a2472f15400d03e02/aiohttp-3.10.8.tar.gz", hash = "sha256:21f8225f7dc187018e8433c9326be01477fb2810721e048b33ac49091b19fb4a", size = 7540022 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f1/90/54ccb1e4eadfb6c95deff695582453f6208584431d69bf572782e9ae542b/aiohttp-3.10.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:8c6a4e5e40156d72a40241a25cc226051c0a8d816610097a8e8f517aeacd59a2", size = 586455 },
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+    { url = "https://files.pythonhosted.org/packages/74/81/419c24f7c94f56b96d04955482efb5b381635ad265b5b7fbab333a9dfde3/yarl-1.13.1-py3-none-any.whl", hash = "sha256:6a5185ad722ab4dd52d5fb1f30dcc73282eb1ed494906a92d1a228d3f89607b0", size = 39862 },
 ]
 
 [[package]]

From 7ebd7b8b4df29c5150ecbd296d9c8c74b153f801 Mon Sep 17 00:00:00 2001
From: garrettpall <76917194+garrettpall@users.noreply.github.com>
Date: Mon, 30 Sep 2024 17:39:23 -0400
Subject: [PATCH 24/55] maneuversd: Add note about cars requiring resume button
 press to exit standstill (#33665)

* maneuversd: Set active true when resume pressed

* Revert "maneuversd: Set active true when resume pressed"

This reverts commit 1165270c47c6a3fe4af5752f7779c36bd5e840c9.

* Add note

* Update README.md

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/longitudinal_maneuvers/README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md
index 66ec697912..643af7fd82 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/tools/longitudinal_maneuvers/README.md
@@ -18,7 +18,9 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
 
    ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f)
 
-5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
+5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel. 
+
+   **Note:** For GM cars, it is recommended to hold down the resume button for all low-speed tests (starting, stopping and creep) to avoid the car entering standstill.
 
    ![cog-clip-00 01 11 250-00 01 22 250](https://github.com/user-attachments/assets/c312c1cc-76e8-46e1-a05e-bb9dfb58994f)
 

From 47cc314b14baba530920e78ad1c31935acc71b8b Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 30 Sep 2024 18:13:51 -0700
Subject: [PATCH 25/55] Gate acceleration on model gas press predictions
 (#33643)

* no ui squash

* already calibrated

* Already calibrated

* Add longitudinal maneuver tests

* Fix linter errors

* Added get_coast_accel function

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
---
 .../controls/lib/longitudinal_planner.py      | 27 +++++++++++--
 .../test/longitudinal_maneuvers/maneuver.py   | 16 ++++++--
 .../test/longitudinal_maneuvers/plant.py      | 12 ++++--
 .../test_longitudinal.py                      | 38 +++++++++++++++++++
 4 files changed, 83 insertions(+), 10 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0b65119383..54838924be 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -21,6 +21,8 @@ A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
+ALLOW_THROTTLE_THRESHOLD = 0.5
+ACCEL_LIMIT_MARGIN = 0.05
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -30,6 +32,9 @@ _A_TOTAL_MAX_BP = [20., 40.]
 def get_max_accel(v_ego):
   return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
+def get_coast_accel(pitch):
+  return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
+
 
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
@@ -69,6 +74,7 @@ class LongitudinalPlanner:
     self.mpc = LongitudinalMpc(dt=dt)
     self.fcw = False
     self.dt = dt
+    self.allow_throttle = True
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -93,11 +99,20 @@ class LongitudinalPlanner:
       v = np.zeros(len(T_IDXS_MPC))
       a = np.zeros(len(T_IDXS_MPC))
       j = np.zeros(len(T_IDXS_MPC))
-    return x, v, a, j
+    if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
+      throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
+    else:
+      throttle_prob = 1.0
+    return x, v, a, j, throttle_prob
 
   def update(self, sm):
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
+    if len(sm['carControl'].orientationNED) == 3:
+      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
+    else:
+      accel_coast = ACCEL_MAX
+
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -130,6 +145,13 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+
+    if not self.allow_throttle and v_ego > 5.0:  # Don't clip at low speeds since throttle_prob doesn't account for creep
+      # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
 
     if force_slow_decel:
       v_cruise = 0.0
@@ -140,7 +162,6 @@ class LongitudinalPlanner:
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -179,6 +200,6 @@ class LongitudinalPlanner:
     longitudinalPlan.aTarget = a_target
     longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = True
+    longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 6c8495cc3b..301f99dd56 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -12,11 +12,14 @@ class Maneuver:
     self.breakpoints = kwargs.get("breakpoints", [0.0, duration])
     self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
     self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
+    self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))])
     self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
+    self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))])
 
     self.only_lead2 = kwargs.get("only_lead2", False)
     self.only_radar = kwargs.get("only_radar", False)
     self.ensure_start = kwargs.get("ensure_start", False)
+    self.ensure_slowdown = kwargs.get("ensure_slowdown", False)
     self.enabled = kwargs.get("enabled", True)
     self.e2e = kwargs.get("e2e", False)
     self.personality = kwargs.get("personality", 0)
@@ -42,9 +45,11 @@ class Maneuver:
     logs = []
     while plant.current_time < self.duration:
       speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
-      prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
+      prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
       cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values)
-      log = plant.step(speed_lead, prob, cruise)
+      pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values)
+      prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values)
+      log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle)
 
       d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
       v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
@@ -57,13 +62,18 @@ class Maneuver:
                             speed_lead,
                             log['acceleration']]))
 
-      if d_rel < .4 and (self.only_radar or prob > 0.5):
+      if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
         print("Crashed!!!!")
         valid = False
 
       if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
         print('LongitudinalPlanner not starting!')
         valid = False
+
+    if self.ensure_slowdown and log['speed'] > 5.5:
+      print('LongitudinalPlanner not slowing down!')
+      valid = False
+
     if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
       print('Not stopping with force decel')
       valid = False
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 21f2b3b57f..3c8c09d6be 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -57,13 +57,14 @@ class Plant:
   def current_time(self):
     return float(self.rk.frame) / self.rate
 
-  def step(self, v_lead=0.0, prob=1.0, v_cruise=50.):
+  def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0):
     # ******** publish a fake model going straight and fake calibration ********
     # note that this is worst case for MPC, since model will delay long mpc by one time step
     radar = messaging.new_message('radarState')
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
+    car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
@@ -73,14 +74,14 @@ class Plant:
       v_rel = v_lead - self.speed
       if self.only_radar:
         status = True
-      elif prob > .5:
+      elif prob_lead > .5:
         status = True
       else:
         status = False
     else:
       d_rel = 200.
       v_rel = 0.
-      prob = 0.0
+      prob_lead = 0.0
       status = False
 
     lead = log.RadarState.LeadData.new_message()
@@ -94,7 +95,7 @@ class Plant:
     # TODO use real radard logic for this
     lead.aLeadTau = float(_LEAD_ACCEL_TAU)
     lead.status = status
-    lead.modelProb = float(prob)
+    lead.modelProb = float(prob_lead)
     if not self.only_lead2:
       radar.radarState.leadOne = lead
     radar.radarState.leadTwo = lead
@@ -112,6 +113,7 @@ class Plant:
     acceleration = log.XYZTData.new_message()
     acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
     model.modelV2.acceleration = acceleration
+    model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)]
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
     ss.selfdriveState.experimentalMode = self.e2e
@@ -120,10 +122,12 @@ class Plant:
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01
     car_state.carState.vCruise = float(v_cruise * 3.6)
+    car_control.carControl.orientationNED = [0., float(pitch), 0.]
 
     # ******** get controlsState messages for plotting ***
     sm = {'radarState': radar.radarState,
           'carState': car_state.carState,
+          'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'modelV2': model.modelV2}
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 62a95babeb..7eea44aae6 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -82,6 +82,44 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       **kwargs,
     ),
+    Maneuver(
+      "approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=True,
+      initial_distance_lead=120.,
+      speed_lead_values=[0.0, 0., 0.],
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., -0.1, -0.1],
+      breakpoints=[0.0, 2., 2.01],
+      **kwargs,
+    ),
+    Maneuver(
+      "approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=True,
+      initial_distance_lead=120.,
+      speed_lead_values=[0.0, 0., 0.],
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      **kwargs,
+    ),
+    Maneuver(
+      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
+      duration=25.,
+      initial_speed=20.,
+      lead_relevancy=False,
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      ensure_slowdown=True,
+      **kwargs,
+    ),
     Maneuver(
       "approach slower cut-in car at 20m/s",
       duration=20.,

From 216145d4bc035e2bd7f10d9f3968631db8535578 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 30 Sep 2024 18:30:03 -0700
Subject: [PATCH 26/55] re-enable time to onroad test (#33680)

re-add test
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index eb39781cb8..799b4fbbeb 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -147,7 +147,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {

From d826b08369555f7e39d03511efa4ddea62701517 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 30 Sep 2024 18:59:46 -0700
Subject: [PATCH 27/55] ci: lower `soundd` CPU budget (#33684)

tr
---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b99662df78..2f7fa00a32 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -53,7 +53,7 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
-  "selfdrive.ui.soundd": 3.5,
+  "selfdrive.ui.soundd": 3.38,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,

From b0e4d6ee7a313e9db08c86758c6c7188b23f9b67 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 30 Sep 2024 19:15:29 -0700
Subject: [PATCH 28/55] Model replay needs speed (#33683)

* Model replay needs speed

* Model replay needs speed

* Revert "Model replay needs speed"

This reverts commit 6d6a4993dd163c02d84465868e85b290d4fc6bbd.

* Update model_replay_ref_commit
---
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 selfdrive/test/process_replay/process_replay.py       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 182a17c7b7..5fb62db139 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-76b8121429ad69d6548f744a39680ade324947e2
+56743d36006d4312544ace7f53491727aa7ac302
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index af33b0458b..b6d5ba6afd 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -569,7 +569,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),

From 6c227a66a2a91b6c9f91d9f76c5ec268145184ca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 30 Sep 2024 20:42:51 -0700
Subject: [PATCH 29/55] process_replay: drivingModelData migration (#33686)

* Migrate modelV2 to drivingModelData

* Add if statements

* Fix
---
 selfdrive/modeld/fill_model_msg.py         | 11 ++++++----
 selfdrive/test/process_replay/migration.py | 25 ++++++++++++++++++++++
 2 files changed, 32 insertions(+), 4 deletions(-)

diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 10a1860b58..115ec94f88 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -48,6 +48,12 @@ def fill_xyz_poly(builder, degree, x, y, z):
   builder.yCoefficients = coeffs[:, 1].tolist()
   builder.zCoefficients = coeffs[:, 2].tolist()
 
+def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
+  builder.leftY = lane_lines[1].y[0]
+  builder.leftProb = lane_line_probs[1]
+  builder.rightY = lane_lines[2].y[0]
+  builder.rightProb = lane_line_probs[2]
+
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
                    net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
@@ -130,10 +136,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
   lane_line_meta = driving_model_data.laneLineMeta
-  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
-  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
-  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
-  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
 
   # road edges
   modelV2.init('roadEdges', 2)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 9c680ada9a..c0696f2181 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -3,6 +3,8 @@ from collections import defaultdict
 from cereal import messaging, car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.system.manager.process_config import managed_processes
 from panda import Panda
@@ -19,6 +21,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   msgs = migrate_liveLocationKalman(msgs)
   msgs = migrate_liveTracks(msgs)
   msgs = migrate_driverAssistance(msgs)
+  msgs = migrate_drivingModelData(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -29,6 +32,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
 
   return msgs
 
+
 def migrate_driverAssistance(lr):
   all_msgs = []
   for msg in lr:
@@ -39,6 +43,27 @@ def migrate_driverAssistance(lr):
       return lr
   return all_msgs
 
+
+def migrate_drivingModelData(lr):
+  all_msgs = []
+  for msg in lr:
+    all_msgs.append(msg)
+    if msg.which() == "modelV2":
+      dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
+      for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
+        setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
+      for meta_field in ["laneChangeState", "laneChangeState"]:
+        setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
+      if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
+        fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
+      if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
+        fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
+      all_msgs.append(dmd.as_reader())
+    elif msg.which() == "drivingModelData":
+      return lr
+  return all_msgs
+
+
 def migrate_liveTracks(lr):
   all_msgs = []
   for msg in lr:

From e442425c9d32774e50802cd5455313090060f4ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 1 Oct 2024 02:58:20 -0700
Subject: [PATCH 30/55] MLSIM trained model V0 (#33676)

* squash f7343ba0-3f7d-4776-9819-2219b8d2d667/270

* fix broken ref

* Model replay ref commit
---
 selfdrive/modeld/constants.py                 |  3 +-
 selfdrive/modeld/modeld.py                    | 29 ++++++++++++++-----
 selfdrive/modeld/models/commonmodel.cc        | 21 +++++++++-----
 selfdrive/modeld/models/commonmodel.h         |  5 ++--
 selfdrive/modeld/models/supercombo.onnx       |  4 +--
 .../process_replay/model_replay_ref_commit    |  2 +-
 6 files changed, 43 insertions(+), 21 deletions(-)

diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 82161a5b67..bf74c2d1a0 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -15,7 +15,8 @@ class ModelConstants:
   # model inputs constants
   MODEL_FREQ = 20
   FEATURE_LEN = 512
-  HISTORY_BUFFER_LEN = 99
+  FULL_HISTORY_BUFFER_LEN = 99
+  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index abaaf299f7..f8a4b7fe0d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -34,6 +34,7 @@ MODEL_PATHS = {
 
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -55,6 +56,11 @@ class ModelState:
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+
+    # img buffers are managed in openCL transform code
     self.inputs = {
       'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
@@ -87,14 +93,16 @@ class ModelState:
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
-    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
-    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
+    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+    self.desire_20Hz[-1] = new_desire
+    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
+
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
 
-    # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
     self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
 
@@ -104,10 +112,16 @@ class ModelState:
     self.model.execute()
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
-    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
-    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
-    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
+    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+
+    self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
+    self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
+
+    idxs = np.arange(-4,-100,-4)[::-1]
+    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    # TODO model only uses last value now, once that changes we need to input strided action history buffer
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
     return outputs
 
 
@@ -173,7 +187,6 @@ def main(demo=False):
     CP = convert_to_capnp(get_demo_car_params())
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index a188a4ebd3..e8a5a7ed52 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -13,7 +13,10 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
+  region.origin = 4 * frame_size_bytes;
+  region.size = frame_size_bytes;
+  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
@@ -24,15 +27,18 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
                 yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
                 y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
+  for (int i = 0; i < 4; i++) {
+    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
+  }
+  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
   if (output == NULL) {
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], frame_size_bytes);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
+    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {
-    copy_queue(&loadyuv, q, *output, *output, frame_size_bytes, 0, frame_size_bytes);
-    copy_queue(&loadyuv, q, net_input_cl, *output, 0, frame_size_bytes, frame_size_bytes);
+    copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
+    copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
 
     // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
     clFinish(q);
@@ -43,7 +49,8 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
 ModelFrame::~ModelFrame() {
   transform_destroy(&transform);
   loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(net_input_cl));
+  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
+  CL_CHECK(clReleaseMemObject(last_img_cl));
   CL_CHECK(clReleaseMemObject(v_cl));
   CL_CHECK(clReleaseMemObject(u_cl));
   CL_CHECK(clReleaseMemObject(y_cl));
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index fb527fc7a1..1c7360f159 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -32,6 +32,7 @@ private:
   Transform transform;
   LoadYUVState loadyuv;
   cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, net_input_cl;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
+  cl_buffer_region region;
   std::unique_ptr<uint8_t[]> input_frames;
-};
+};
\ No newline at end of file
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 100fd14c98..49b51c182e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
-size 62486469
+oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959
+size 50309976
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 5fb62db139..f8fd517548 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-56743d36006d4312544ace7f53491727aa7ac302
+05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7

From 3b6f7c9a6c602c0ceb4907eb9ca4e96c9ba41352 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Oct 2024 13:19:26 -0700
Subject: [PATCH 31/55] sgo shipped!

---
 RELEASES.md | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index d69d9f8dcc..1435809d84 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,10 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* New Tomb Raider driving model
+* New driving model
+  * Trained in brand new ML simulator
+  * Model now gates applying positive accel in Chill mode
+* New driving monitoring model
+  * Reduced false positives related to passengers 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * New Toyota TSS2 longitudinal tune
 

From ba350aac4cb8f996e4c0e22cc77b2b1e99e5ff8c Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 1 Oct 2024 16:48:19 -0700
Subject: [PATCH 32/55] merge Tesla without a replay route (#33691)

* bump opendbc

* no Tesla replay route for now

* bump opendbc to head
---
 opendbc_repo                                    | 2 +-
 selfdrive/test/process_replay/test_processes.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 6a35629a6b..7b63ff21e9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 6a35629a6b5f55167ed9d9923411ce9e49e6a76f
+Subproject commit 7b63ff21e9652242255b408840d0ebc5a7d0e768
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 50c34a190f..78090372a6 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -60,7 +60,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

From 999c86e8a204e8e392c96907756b369790ba66d5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 17:17:09 -0700
Subject: [PATCH 33/55] Remove VW steer time limit alert (#33692)

* rm

* remove argument

* and more
---
 selfdrive/car/car_specific.py | 9 +++++----
 selfdrive/car/card.py         | 2 +-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 3984b66c63..db46a75ccc 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,7 +1,7 @@
 from cereal import car
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
-from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
+from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
@@ -37,7 +37,7 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
-  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
+  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
@@ -149,8 +149,9 @@ class CarSpecificEvents:
         if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
-      if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
-        events.add(EventName.steerTimeLimit)
+      # TODO: this needs to be implemented generically in carState struct
+      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.carName == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 62569f64f5..8829c2e91f 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -187,7 +187,7 @@ class Car:
   def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
     self.events.clear()
 
-    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
+    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CC_prev).to_msg()
 
     self.events.add_from_msg(CS.events)
 

From 17edc5f66092bcc79db919eebb7ecb1e3108be10 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 1 Oct 2024 17:22:46 -0700
Subject: [PATCH 34/55] support for SecOC cars (#33689)

* bump opendbc

* support for SecOC cars

* missed this

* bump opendbc

* un-nest SecOC params

* gate saved key retrieval on IsReleaseBranch false

* bump opendbc

* bump opendbc

* bump opendbc to point of SecOC merge

* bump opendbc
---
 cereal/car.capnp                   |  4 ++++
 common/params.cc                   |  1 +
 opendbc_repo                       |  2 +-
 selfdrive/car/card.py              | 12 ++++++++++++
 selfdrive/selfdrived/events.py     |  6 ++++++
 selfdrive/selfdrived/selfdrived.py |  2 ++
 6 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6af474c0ee..34f2ac37e3 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -87,6 +87,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @125;
     startupMaster @78;
     fcw @79;
     steerSaturated @80;
@@ -515,6 +516,9 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @75 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @76 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;
diff --git a/common/params.cc b/common/params.cc
index c75a09e28b..9e62ed582c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -182,6 +182,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
+    {"SecOCKey", PERSISTENT | DONT_LOG},
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
diff --git a/opendbc_repo b/opendbc_repo
index 7b63ff21e9..bed4c18a95 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7b63ff21e9652242255b408840d0ebc5a7d0e768
+Subproject commit bed4c18a959475251e48c28fadfa6bc207f20ec6
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 8829c2e91f..7f57edf866 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -127,6 +127,18 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      secoc_key = self.params.get("SecOCKey", encoding='utf8')
+      if secoc_key is not None:
+        saved_secoc_key = bytes.fromhex(secoc_key.strip())
+        if len(saved_secoc_key) == 16:
+          self.CP.secOcKeyAvailable = True
+          self.CI.CS.secoc_key = saved_secoc_key
+          if controller_available:
+            self.CI.CC.secoc_key = saved_secoc_key
+        else:
+          cloudlog.warning("Saved SecOC key is invalid")
+
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 9ed1b454f0..29b1933701 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -382,6 +382,12 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
   },
 
+  EventName.startupNoSecOcKey: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       "Security Key Not Available",
+                                       priority=Priority.HIGH),
+  },
+
   EventName.dashcamMode: {
     ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
                                        priority=Priority.LOWEST),
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 18ac61dec8..9e6ac90219 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -118,6 +118,8 @@ class SelfdriveD:
       self.startup_event = EventName.startupNoCar
     elif car_recognized and self.CP.passive:
       self.startup_event = EventName.startupNoControl
+    elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
+      self.startup_event = EventName.startupNoSecOcKey
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)

From 516aa59ee6293e5fcf49dc370520b22ba46bcf8c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 20:16:25 -0700
Subject: [PATCH 35/55] Deprecate lowSpeedLockout alert (#33696)

* is an accFault

* bump

* bump to master

* remove from car specific
---
 cereal/car.capnp               | 2 +-
 opendbc_repo                   | 2 +-
 selfdrive/car/car_specific.py  | 2 --
 selfdrive/selfdrived/events.py | 5 -----
 4 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 34f2ac37e3..73f9ca9dc4 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -52,7 +52,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     brakeHold @28;
     parkBrake @29;
     manualRestart @30;
-    lowSpeedLockout @31;
     joystickDebug @34;
     longitudinalManeuver @124;
     steerTempUnavailableSilent @35;
@@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     wideRoadCameraErrorDEPRECATED @102;
     highCpuUsageDEPRECATED @105;
     startupNoFwDEPRECATED @104;
+    lowSpeedLockoutDEPRECATED @31;
   }
 }
 
diff --git a/opendbc_repo b/opendbc_repo
index bed4c18a95..01f47ff1a3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit bed4c18a959475251e48c28fadfa6bc207f20ec6
+Subproject commit 01f47ff1a324ade77d99f79c7ea0f4e87110147d
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index db46a75ccc..9602400250 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -99,8 +99,6 @@ class CarSpecificEvents:
       if self.CP.openpilotLongitudinalControl:
         if CS.out.cruiseState.standstill and not CS.out.brakePressed:
           events.add(EventName.resumeRequired)
-        if CS.low_speed_lockout:  # type: ignore[attr-defined]
-          events.add(EventName.lowSpeedLockout)
         if CS.out.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
           if CC_prev.actuators.accel > 0.3:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 29b1933701..cb71126627 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -945,11 +945,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
   },
 
-  EventName.lowSpeedLockout: {
-    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
-  },
-
   EventName.lkasDisabled: {
     ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
     ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),

From 521c702a1ef87f035e1a36f53bcd823ec57e77ae Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Oct 2024 20:34:21 -0700
Subject: [PATCH 36/55] jenkins: set device time

---
 Jenkinsfile | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Jenkinsfile b/Jenkinsfile
index 799b4fbbeb..84514948c7 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -84,6 +84,8 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
         timeout(time: 35, unit: 'MINUTES') {
           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"))
           }
           steps.each { item ->

From 9cbd34158f6fa264b86493c1c5bdb2a1bbc0dd4f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 21:17:24 -0700
Subject: [PATCH 37/55] GM: signed wheel speeds (#33697)

* signed wheel speeds

* clean up

* bump to master

* bump to master again

* did a sanity check for negative vego

* bump
---
 opendbc_repo                       | 2 +-
 selfdrive/car/car_specific.py      | 5 ++---
 selfdrive/controls/controlsd.py    | 2 +-
 selfdrive/selfdrived/selfdrived.py | 2 +-
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 01f47ff1a3..ea87b4fa3b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 01f47ff1a324ade77d99f79c7ea0f4e87110147d
+Subproject commit ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 9602400250..1053588001 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -119,9 +119,8 @@ class CarSpecificEvents:
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward  # type: ignore[attr-defined]
-      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
-                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+      if CS.out.vEgo < self.CP.minEnableSpeed and not (CS.out.standstill and CS.out.brake >= 20 and
+                                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.out.cruiseState.standstill:
         events.add(EventName.resumeRequired)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 80331c6ee7..c97a06a0cf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -87,7 +87,7 @@ class Controls:
     CC.enabled = self.sm['selfdriveState'].enabled
 
     # Check which actuators can be enabled
-    standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
+    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 9e6ac90219..63e078e6d7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -334,7 +334,7 @@ class SelfdriveD:
         self.events.add(EventName.noGps)
       if gps_ok:
         self.distance_traveled = 0
-      self.distance_traveled += CS.vEgo * DT_CTRL
+      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)

From 48bd5b9f6b0400a09d8af87442ad3616fedc6724 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Tue, 1 Oct 2024 21:33:46 -0700
Subject: [PATCH 38/55] modeld: clip vego (#33699)

---
 selfdrive/modeld/modeld.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index f8a4b7fe0d..ec258f42f0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -231,7 +231,8 @@ def main(demo=False):
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
+    v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]

From aea6790e3c3d1456305c52213965a6799c42074a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 21:30:16 -0700
Subject: [PATCH 39/55] ButtonEvent: rename altButton3 to mainCruise

---
 cereal/car.capnp | 2 +-
 opendbc_repo     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 73f9ca9dc4..3ef78973e3 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -281,7 +281,7 @@ struct CarState {
       cancel @5;
       altButton1 @6;
       altButton2 @7;
-      altButton3 @8;
+      mainCruise @8;
       setCruise @9;
       resumeCruise @10;
       gapAdjustCruise @11;
diff --git a/opendbc_repo b/opendbc_repo
index ea87b4fa3b..117ed6de67 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55
+Subproject commit 117ed6de6788c90c097d426e88ac97aaa36d0621

From c19c18cfdb875aa9cf02e3ea813e3385dfab8ff7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 22:46:24 -0700
Subject: [PATCH 40/55] Hyundai: always publish cruise and main buttons
 (#33701)

* bump

* update refs
---
 opendbc_repo                             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 117ed6de67..2b91038bf7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 117ed6de6788c90c097d426e88ac97aaa36d0621
+Subproject commit 2b91038bf7f1c2287f1d32c98cd84e45cc0e243e
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e154284e3d..8e012f79c3 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d8a02c23f530dd236553b47ff7f0355929fe15fc
+2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf
\ No newline at end of file

From 98e1d840de3cb8cf801e7b23cafc5fc605550344 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 1 Oct 2024 23:06:57 -0700
Subject: [PATCH 41/55] CarState: add invalidLkasSetting (#33700)

* invalidLkasSetting

* clean up car specific a bit

* clean this up

* deprecate!

* bump

* this was just broken lol

* updaterefs
---
 cereal/car.capnp                         |  3 ++-
 opendbc_repo                             |  2 +-
 selfdrive/car/car_specific.py            |  9 +++------
 selfdrive/selfdrived/events.py           | 10 +++-------
 selfdrive/test/process_replay/ref_commit |  2 +-
 5 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 3ef78973e3..e53f3ce25c 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -103,7 +103,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     selfdriveInitializing @98;
     usbError @99;
     cruiseMismatch @106;
-    lkasDisabled @107;
     canBusMissing @111;
     selfdrivedLagging @112;
     resumeBlocked @113;
@@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     highCpuUsageDEPRECATED @105;
     startupNoFwDEPRECATED @104;
     lowSpeedLockoutDEPRECATED @31;
+    lkasDisabledDEPRECATED @107;
   }
 }
 
@@ -199,6 +199,7 @@ struct CarState {
   steeringPressed @9 :Bool;        # if the user is using the steering wheel
   steerFaultTemporary @35 :Bool;   # temporary EPS fault
   steerFaultPermanent @36 :Bool;   # permanent EPS fault
+  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;
diff --git a/opendbc_repo b/opendbc_repo
index 2b91038bf7..0cdc684e09 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2b91038bf7f1c2287f1d32c98cd84e45cc0e243e
+Subproject commit 0cdc684e097f386554bbc1a6946a4efe8bc7cfd6
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 1053588001..83927a6b04 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -50,15 +50,10 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-      if CS.lkas_enabled:  # type: ignore[attr-defined]
-        events.add(EventName.invalidLkasSetting)
-
     elif self.CP.carName == 'mazda':
       events = self.create_common_events(CS.out, CS_prev)
 
-      if CS.lkas_disabled:  # type: ignore[attr-defined]
-        events.add(EventName.lkasDisabled)
-      elif CS.low_speed_alert:  # type: ignore[attr-defined]
+      if CS.low_speed_alert:  # type: ignore[attr-defined]
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'chrysler':
@@ -211,6 +206,8 @@ class CarSpecificEvents:
       events.add(EventName.gasPressedOverride)
     if CS.vehicleSensorsInvalid:
       events.add(EventName.vehicleSensorsInvalid)
+    if CS.invalidLkasSetting:
+      events.add(EventName.invalidLkasSetting)
 
     # Handle button presses
     for b in CS.buttonEvents:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index cb71126627..070ca60ca2 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -394,8 +394,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
-                                       "Turn off stock LKAS to engage"),
+    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
+                                       "Toggle stock LKAS on or off to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 
   EventName.cruiseMismatch: {
@@ -945,11 +946,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
   },
 
-  EventName.lkasDisabled: {
-    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
-  },
-
   EventName.vehicleSensorsInvalid: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
     ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8e012f79c3..30daa6e265 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf
\ No newline at end of file
+1b4480f5ebf5a4003dde22f19bbcf989294bc724
\ No newline at end of file

From c87f953396d1fe719337132940cab9473a8054b4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Oct 2024 23:21:33 -0700
Subject: [PATCH 42/55] test_onroad: bump up hevc size

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 2f7fa00a32..fc51d7a2cc 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -214,7 +214,7 @@ class TestOnroad:
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):
-        assert 70 < sz < 77
+        assert 70 < sz < 80
       else:
         raise NotImplementedError
 

From af609212f7be5a60c5987b00dd7047e8bfdd5f04 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 2 Oct 2024 10:10:11 -0700
Subject: [PATCH 43/55] bump qcamera too

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index fc51d7a2cc..f2afad82ee 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -208,7 +208,7 @@ class TestOnroad:
   def test_log_sizes(self):
     for f, sz in self.log_sizes.items():
       if f.name == "qcamera.ts":
-        assert 2.15 < sz < 2.35
+        assert 2.15 < sz < 2.6
       elif f.name == "qlog":
         assert 0.4 < sz < 0.55
       elif f.name == "rlog":

From 7fa8e3d8a65682a00d8ee6d5dba2b58292921dfc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 3 Oct 2024 01:10:26 +0800
Subject: [PATCH 44/55] sensord: fix redundant assignment (#33707)

fix redundant assignment
---
 system/sensord/sensors/lsm6ds3_gyro.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc
index 0459b6ad64..bb560edeab 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.cc
+++ b/system/sensord/sensors/lsm6ds3_gyro.cc
@@ -110,7 +110,7 @@ int LSM6DS3_Gyro::init() {
   uint8_t value = 0;
   bool do_self_test = false;
 
-  const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST");
+  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
   if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
     do_self_test = true;
   }

From 6aebec7b347a2b40e1bf1c495fe0f1eb360d26fc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 3 Oct 2024 04:03:46 +0800
Subject: [PATCH 45/55] cleanup .gitignore (#33704)

---
 .gitignore | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.gitignore b/.gitignore
index d66823bb50..919e011fe3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
-selfdrive/modeld/_modeld
-selfdrive/modeld/_dmonitoringmodeld
-/src/
 
 notebooks
 hyperthneed

From 06f2ca117915ea7fa6490a6f3c3dac61da25fb19 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Oct 2024 14:38:00 -0700
Subject: [PATCH 46/55] cars: generic interaction detection (#33710)

* works

* clean up

* bump

* clean up

* it used to consider an action hold down the button, so shouldn't only consider rising edge

* bump
---
 opendbc_repo                  | 2 +-
 selfdrive/car/car_specific.py | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 0cdc684e09..900246ddb3 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 0cdc684e097f386554bbc1a6946a4efe8bc7cfd6
+Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 83927a6b04..b43a4c4fc7 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,9 +1,11 @@
+from collections import deque
 from cereal import car
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -37,6 +39,8 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
+    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
+
   def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
@@ -149,8 +153,8 @@ class CarSpecificEvents:
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
-      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)  # type: ignore[attr-defined]
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
+      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.out.buttonEvents))
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:

From 2b486b15c6718d076ef40098998971a5874abd1b Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 2 Oct 2024 14:47:09 -0700
Subject: [PATCH 47/55] MLSIM trained model V1 (#33698)

* 87c86ea8-9766-43e9-b72f-185496800301/400

* update ref
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 49b51c182e..89042dbe47 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959
+oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95
 size 50309976
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index f8fd517548..f14eef06b9 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7
+c4d60dfe4b677f9230eebb47614501ea8d0b99a3

From 6f0927011cd1ffa94784b42ea5cda72a1ae624d7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Oct 2024 15:10:33 -0700
Subject: [PATCH 48/55] CarState: add low speed alert field (#33712)

* clean up mazda steer speed alert

* bump
---
 cereal/car.capnp              |  1 +
 opendbc_repo                  |  2 +-
 selfdrive/car/car_specific.py | 10 +++-------
 3 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index e53f3ce25c..6eff704ecb 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -207,6 +207,7 @@ struct CarState {
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
   vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/opendbc_repo b/opendbc_repo
index 900246ddb3..a363ce1ff4 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770
+Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index b43a4c4fc7..ee2dee77de 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -45,7 +45,7 @@ class CarSpecificEvents:
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName == 'subaru':
+    elif self.CP.carName in ('subaru', 'mazda'):
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
@@ -54,12 +54,6 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'mazda':
-      events = self.create_common_events(CS.out, CS_prev)
-
-      if CS.low_speed_alert:  # type: ignore[attr-defined]
-        events.add(EventName.belowSteerSpeed)
-
     elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
 
@@ -212,6 +206,8 @@ class CarSpecificEvents:
       events.add(EventName.vehicleSensorsInvalid)
     if CS.invalidLkasSetting:
       events.add(EventName.invalidLkasSetting)
+    if CS.lowSpeedAlert:
+      events.add(EventName.belowSteerSpeed)
 
     # Handle button presses
     for b in CS.buttonEvents:

From b2791a8e07fad139f7eb2d46a160f14ac08456a8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 2 Oct 2024 20:47:16 -0700
Subject: [PATCH 49/55] process_replay: in-place modification for message
 migration (#33695)

* Inplace modification of lr

* Replace the original function

* Add comment

* Change the return type

* Fix carParams retrieval

* Remove the newline

* Include carState migration

* Remove TODO

* Comment

* List instead of gen

* Fix deletion

* Delete camera state if not valid

* Update ref commit

* Remove sorting at the end

* Use migrate_all in ui report

* Allow more control in what to migrate

* Add type annotations

* Static analysis

* Improve type annot

* Fix linter issues

* Remove f-string

* Migrate carState too in test_ui

* Fix peripheralState migration

* Sort at the end

* Fix regen issue

* Fix comments
---
 selfdrive/test/process_replay/migration.py | 396 +++++++++++----------
 selfdrive/test/process_replay/ref_commit   |   2 +-
 selfdrive/ui/tests/test_ui/run.py          |   4 +-
 3 files changed, 212 insertions(+), 190 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index c0696f2181..9241a3d493 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,4 +1,7 @@
 from collections import defaultdict
+from collections.abc import Callable
+import functools
+import capnp
 
 from cereal import messaging, car
 from opendbc.car.fingerprints import MIGRATION
@@ -7,70 +10,115 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.tools.lib.logreader import LogIterable
 from panda import Panda
 
+MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
+MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
+MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 
-# TODO: message migration should happen in-place
-def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
-  msgs = migrate_sensorEvents(lr)
-  msgs = migrate_carParams(msgs)
-  msgs = migrate_gpsLocation(msgs)
-  msgs = migrate_deviceState(msgs)
-  msgs = migrate_carOutput(msgs)
-  msgs = migrate_controlsState(msgs)
-  msgs = migrate_liveLocationKalman(msgs)
-  msgs = migrate_liveTracks(msgs)
-  msgs = migrate_driverAssistance(msgs)
-  msgs = migrate_drivingModelData(msgs)
+
+## rules for migration functions
+## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
+## 2. it only gets the messages that are in the inputs list
+## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
+## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
+## 5. all migration functions must be independent of each other
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+  migrations = [
+    migrate_sensorEvents,
+    migrate_carParams,
+    migrate_gpsLocation,
+    migrate_deviceState,
+    migrate_carOutput,
+    migrate_controlsState,
+    migrate_carState,
+    migrate_liveLocationKalman,
+    migrate_liveTracks,
+    migrate_driverAssistance,
+    migrate_drivingModelData,
+  ]
   if manager_states:
-    msgs = migrate_managerState(msgs)
+    migrations.append(migrate_managerState)
   if panda_states:
-    msgs = migrate_pandaStates(msgs)
-    msgs = migrate_peripheralState(msgs)
+    migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
-    msgs = migrate_cameraStates(msgs)
+    migrations.append(migrate_cameraStates)
 
-  return msgs
+  return migrate(lr, migrations)
 
 
-def migrate_driverAssistance(lr):
-  all_msgs = []
-  for msg in lr:
-    all_msgs.append(msg)
-    if msg.which() == 'longitudinalPlan':
-      all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
-    if msg.which() == 'driverAssistance':
-      return lr
-  return all_msgs
+def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
+  lr = list(lr)
+  grouped = defaultdict(list)
+  for i, msg in enumerate(lr):
+    grouped[msg.which()].append(i)
 
-
-def migrate_drivingModelData(lr):
-  all_msgs = []
-  for msg in lr:
-    all_msgs.append(msg)
-    if msg.which() == "modelV2":
-      dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
-      for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
-        setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
-      for meta_field in ["laneChangeState", "laneChangeState"]:
-        setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
-      if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
-        fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
-      if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
-        fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-      all_msgs.append(dmd.as_reader())
-    elif msg.which() == "drivingModelData":
-      return lr
-  return all_msgs
-
-
-def migrate_liveTracks(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != "liveTracksDEPRECATED":
-      all_msgs.append(msg)
+  replace_ops, add_ops, del_ops = [], [], []
+  for migration in migration_funcs:
+    assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator"
+    if migration.product in grouped: # skip if product already exists
       continue
 
+    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    msg_gen = [(i, lr[i]) for i in sorted_indices]
+    r_ops, a_ops, d_ops = migration(msg_gen)
+    replace_ops.extend(r_ops)
+    add_ops.extend(a_ops)
+    del_ops.extend(d_ops)
+
+  for index, msg in replace_ops:
+    lr[index] = msg
+  for index in sorted(del_ops, reverse=True):
+    del lr[index]
+  for msg in add_ops:
+    lr.append(msg)
+  lr = sorted(lr, key=lambda x: x.logMonoTime)
+
+  return lr
+
+
+def migration(inputs: list[str], product: str|None=None):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      return func(*args, **kwargs)
+    wrapper.inputs = inputs
+    wrapper.product = product
+    return wrapper
+  return decorator
+
+
+@migration(inputs=["longitudinalPlan"], product="driverAssistance")
+def migrate_driverAssistance(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["modelV2"], product="drivingModelData")
+def migrate_drivingModelData(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
+      setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
+    for meta_field in ["laneChangeState", "laneChangeState"]:
+      setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
+    if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
+      fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
+    if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
+      fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
+    add_ops.append( dmd.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
+def migrate_liveTracks(msgs):
+  ops = []
+  for index, msg in msgs:
     new_msg = messaging.new_message('liveTracks')
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
@@ -88,22 +136,14 @@ def migrate_liveTracks(lr):
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_liveLocationKalman(lr):
-  # migration needed only for routes before livePose
-  if any(msg.which() == 'livePose' for msg in lr):
-    return lr
-
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'liveLocationKalmanDEPRECATED':
-      all_msgs.append(msg)
-      continue
-
+@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
+def migrate_liveLocationKalman(msgs):
+  ops = []
+  for index, msg in msgs:
     m = messaging.new_message('livePose')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
@@ -114,102 +154,93 @@ def migrate_liveLocationKalman(lr):
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
-
-    all_msgs.append(m.as_reader())
-
-  return all_msgs
+    ops.append((index, m.as_reader()))
+  return ops, [], []
 
 
-def migrate_controlsState(lr):
-  ret = []
+@migration(inputs=["controlsState"], product="selfdriveState")
+def migrate_controlsState(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    m = messaging.new_message('selfdriveState')
+    m.valid = msg.valid
+    m.logMonoTime = msg.logMonoTime
+    ss = m.selfdriveState
+    for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
+                  "alertStatus", "alertSize", "alertType", "experimentalMode",
+                  "personality"):
+      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+    add_ops.append(m.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["carState", "controlsState"])
+def migrate_carState(msgs):
+  ops = []
   last_cs = None
-  for msg in lr:
+  for index, msg in msgs:
     if msg.which() == 'controlsState':
       last_cs = msg
-
-      m = messaging.new_message('selfdriveState')
-      m.valid = msg.valid
-      m.logMonoTime = msg.logMonoTime
-      ss = m.selfdriveState
-      for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
-                    "alertStatus", "alertSize", "alertType", "experimentalMode",
-                    "personality"):
-        setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
-      ret.append(m.as_reader())
     elif msg.which() == 'carState' and last_cs is not None:
       if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
         msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
         msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
-        msg = msg.as_reader()
-
-    ret.append(msg)
-  return ret
+        ops.append((index, msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_managerState(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != "managerState":
-      all_msgs.append(msg)
-      continue
-
+@migration(inputs=["managerState"])
+def migrate_managerState(msgs):
+  ops = []
+  for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_gpsLocation(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
-      new_msg = msg.as_builder()
-      g = getattr(new_msg, new_msg.which())
-      # hasFix is a newer field
-      if not g.hasFix and g.flags == 1:
-        g.hasFix = True
-      all_msgs.append(new_msg.as_reader())
-    else:
-      all_msgs.append(msg)
-  return all_msgs
+@migration(inputs=["gpsLocation", "gpsLocationExternal"])
+def migrate_gpsLocation(msgs):
+  ops = []
+  for index, msg in msgs:
+    new_msg = msg.as_builder()
+    g = getattr(new_msg, new_msg.which())
+    # hasFix is a newer field
+    if not g.hasFix and g.flags == 1:
+      g.hasFix = True
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_deviceState(lr):
-  all_msgs = []
+@migration(inputs=["deviceState", "initData"])
+def migrate_deviceState(msgs):
+  ops = []
   dt = None
-  for msg in lr:
+  for i, msg in msgs:
     if msg.which() == 'initData':
       dt = msg.initData.deviceType
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = dt
-      all_msgs.append(n.as_reader())
-    else:
-      all_msgs.append(msg)
-  return all_msgs
+      ops.append((i, n.as_reader()))
+  return ops, [], []
 
 
-def migrate_carOutput(lr):
-  # migration needed only for routes before carOutput
-  if any(msg.which() == 'carOutput' for msg in lr):
-    return lr
-
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carControl':
-      co = messaging.new_message('carOutput')
-      co.valid = msg.valid
-      co.logMonoTime = msg.logMonoTime
-      co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-      all_msgs.append(co.as_reader())
-    all_msgs.append(msg)
-  return all_msgs
+@migration(inputs=["carControl"], product="carOutput")
+def migrate_carOutput(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    co = messaging.new_message('carOutput')
+    co.valid = msg.valid
+    co.logMonoTime = msg.logMonoTime
+    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+    add_ops.append(co.as_reader())
+  return [], add_ops, []
 
 
-def migrate_pandaStates(lr):
-  all_msgs = []
+@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"])
+def migrate_pandaStates(msgs):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
@@ -217,11 +248,12 @@ def migrate_pandaStates(lr):
     "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 
-  # Migrate safety param base on carState
-  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  # Migrate safety param base on carParams
+  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
   assert CP is not None, "carParams message not found"
-  if CP.carFingerprint in safety_param_migration:
-    safety_param = safety_param_migration[CP.carFingerprint]
+  fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
+  if fingerprint in safety_param_migration:
+    safety_param = safety_param_migration[fingerprint]
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
     if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
@@ -229,49 +261,45 @@ def migrate_pandaStates(lr):
   else:
     safety_param = CP.safetyParamDEPRECATED
 
-  for msg in lr:
+  ops = []
+  for index, msg in msgs:
     if msg.which() == 'pandaStateDEPRECATED':
       new_msg = messaging.new_message('pandaStates', 1)
       new_msg.valid = msg.valid
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      all_msgs.append(new_msg.as_reader())
+      ops.append((index, new_msg.as_reader()))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
-      all_msgs.append(new_msg.as_reader())
-    else:
-      all_msgs.append(msg)
-
-  return all_msgs
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_peripheralState(lr):
-  if any(msg.which() == "peripheralState" for msg in lr):
-    return lr
+@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState")
+def migrate_peripheralState(msgs):
+  add_ops = []
 
-  all_msg = []
-  for msg in lr:
-    all_msg.append(msg)
-    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+  which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED"
+  for _, msg in msgs:
+    if msg.which() != which:
       continue
-
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    all_msg.append(new_msg.as_reader())
-
-  return all_msg
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, []
 
 
-def migrate_cameraStates(lr):
-  all_msgs = []
+@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
+def migrate_cameraStates(msgs):
+  add_ops, del_ops = [], []
   frame_to_encode_id = defaultdict(dict)
   # just for encodeId fallback mechanism
   min_frame_id = defaultdict(lambda: float('inf'))
 
-  for msg in lr:
+  for _, msg in msgs:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
       continue
 
@@ -281,9 +309,8 @@ def migrate_cameraStates(lr):
     assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
 
-  for msg in lr:
+  for index, msg in msgs:
     if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
-      all_msgs.append(msg)
       continue
 
     camera_state = getattr(msg, msg.which())
@@ -293,6 +320,7 @@ def migrate_cameraStates(lr):
     if encode_id is None:
       print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
       if len(frame_to_encode_id[msg.which()]) != 0:
+        del_ops.append(index)
         continue
 
       # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
@@ -313,33 +341,27 @@ def migrate_cameraStates(lr):
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.valid = msg.valid
 
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    del_ops.append(index)
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, del_ops
 
 
-def migrate_carParams(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carParams':
-      CP = msg.as_builder()
-      CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
-      for car_fw in CP.carParams.carFw:
-        car_fw.brand = CP.carParams.carName
-      CP.logMonoTime = msg.logMonoTime
-      msg = CP.as_reader()
-    all_msgs.append(msg)
-
-  return all_msgs
+@migration(inputs=["carParams"])
+def migrate_carParams(msgs):
+  ops = []
+  for index, msg in msgs:
+    CP = msg.as_builder()
+    CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
+    for car_fw in CP.carParams.carFw:
+      car_fw.brand = CP.carParams.carName
+    ops.append((index, CP.as_reader()))
+  return ops, [], []
 
 
-def migrate_sensorEvents(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'sensorEventsDEPRECATED':
-      all_msgs.append(msg)
-      continue
-
+@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents")
+def migrate_sensorEvents(msgs):
+  add_ops, del_ops = [], []
+  for index, msg in msgs:
     # migrate to split sensor events
     for evt in msg.sensorEventsDEPRECATED:
       # build new message for each sensor type
@@ -367,6 +389,6 @@ def migrate_sensorEvents(lr):
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      all_msgs.append(m.as_reader())
-
-  return all_msgs
+      add_ops.append(m.as_reader())
+    del_ops.append(index)
+  return [], add_ops, del_ops
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 30daa6e265..32609b0a8f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-1b4480f5ebf5a4003dde22f19bbcf989294bc724
\ No newline at end of file
+f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de
\ No newline at end of file
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 8c9db5a3f3..a918a57364 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -19,7 +19,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
@@ -263,7 +263,7 @@ def create_screenshots():
   segnum = 2
   lr = LogReader(route.qlog_paths()[segnum])
   DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
-  for event in migrate_controlsState(lr):
+  for event in migrate(lr, [migrate_controlsState, migrate_carState]):
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
 

From 3ca158ad3e820488c507006c960226d4db2e53cf Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 3 Oct 2024 12:14:37 +0800
Subject: [PATCH 50/55] camerad:  remove Hardware::PC() check (#33713)

remove check for hardware::PC
---
 system/camerad/main.cc | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/system/camerad/main.cc b/system/camerad/main.cc
index b86b4f57ff..d55bd495ad 100644
--- a/system/camerad/main.cc
+++ b/system/camerad/main.cc
@@ -4,14 +4,8 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  if (Hardware::PC()) {
-    printf("exiting, camerad is not meant to run on PC\n");
-    return 0;
-  }
-
   int ret = util::set_realtime_priority(53);
   assert(ret == 0);
   ret = util::set_core_affinity({6});

From aed1eaede5a8035a3b882096acf461cdd962b68c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Oct 2024 21:32:56 -0700
Subject: [PATCH 51/55] Deprecate carState.events (#33693)

* add lkas bools

* switch these two over

* bump

* deprecate low speed lockout

* add lowSpeedAlert bool

bump

* GM vehicle speed is now signed!

* reimagine

* rm

* do event

* bump

* STASH

* comment

* bump

* no out!

* format

* move almost everything to selfdrived

* add back CC_prev for cruise initialization

* ok

* errors are passed to radarState as well as freq check

* deprecate!

* use selfdrived for test models events

* we only want noEntry from car events, not system, have to check pedalPressed

* no more events

* regen with buttonEvents set properly

* update refs
---
 cereal/car.capnp                              |  3 +-
 selfdrive/car/car_specific.py                 | 70 +++++++++----------
 selfdrive/car/card.py                         | 38 ++--------
 selfdrive/car/tests/test_models.py            | 15 ++--
 selfdrive/selfdrived/selfdrived.py            | 31 ++++++--
 selfdrive/test/process_replay/README.md       |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     |  4 +-
 8 files changed, 79 insertions(+), 86 deletions(-)

diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6eff704ecb..326f1eeef8 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -157,8 +157,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s
 
 struct CarState {
-  events @13 :List(OnroadEvent);
-
   # CAN health
   canValid @26 :Bool;       # invalid counter/checksums
   canTimeout @40 :Bool;     # CAN bus dropped out
@@ -296,6 +294,7 @@ struct CarState {
   steeringRateLimitedDEPRECATED @29 :Bool;
   canMonoTimesDEPRECATED @12: List(UInt64);
   canRcvTimeoutDEPRECATED @49 :Bool;
+  eventsDEPRECATED @13 :List(OnroadEvent);
 }
 
 # ******* radar state @ 20hz *******
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index ee2dee77de..23719a8c4f 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -2,7 +2,7 @@ from collections import deque
 from cereal import car
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
-from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase
+from opendbc.car.interfaces import MAX_CTRL_SPEED
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
@@ -41,102 +41,102 @@ class CarSpecificEvents:
 
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
-  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl):
+  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
     elif self.CP.carName in ('subaru', 'mazda'):
-      events = self.create_common_events(CS.out, CS_prev)
+      events = self.create_common_events(CS, CS_prev)
 
     elif self.CP.carName == 'ford':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
     elif self.CP.carName == 'nissan':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
     elif self.CP.carName == 'chrysler':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
-      if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
+      if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
-      elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
+      elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'honda':
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
-      if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
+      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
       if self.CP.pcmCruise:
         # we engage when pcm is active (rising edge)
-        if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
+        if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
           events.add(EventName.pcmEnable)
-        elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+        elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
           # it can happen that car cruise disables while comma system is enabled: need to
           # keep braking if needed or if the speed is very low
-          if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
+          if CS.vEgo < self.CP.minEnableSpeed + 2.:
             # non loud alert if cruise disables below 25mph as expected (+ a little margin)
             events.add(EventName.speedTooLow)
           else:
             events.add(EventName.cruiseDisabled)
-      if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
+      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
     elif self.CP.carName == 'toyota':
-      events = self.create_common_events(CS.out, CS_prev)
+      events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.out.cruiseState.standstill and not CS.out.brakePressed:
+        if CS.cruiseState.standstill and not CS.brakePressed:
           events.add(EventName.resumeRequired)
-        if CS.out.vEgo < self.CP.minEnableSpeed:
+        if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
-          if CC_prev.actuators.accel > 0.3:
+          if CC.actuators.accel > 0.3:
             # some margin on the actuator to not false trigger cancellation while stopping
             events.add(EventName.speedTooLow)
-          if CS.out.vEgo < 0.001:
+          if CS.vEgo < 0.001:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
     elif self.CP.carName == 'gm':
       # The ECM allows enabling on falling edge of set, but only rising edge of resume
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                       GearShifter.eco, GearShifter.manumatic],
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                   GearShifter.eco, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
       if not self.CP.pcmCruise:
-        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
           events.add(EventName.buttonEnable)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.out.vEgo < self.CP.minEnableSpeed and not (CS.out.standstill and CS.out.brake >= 20 and
-                                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+                                                   self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
-      if CS.out.cruiseState.standstill:
+      if CS.cruiseState.standstill:
         events.add(EventName.resumeRequired)
-      if CS.out.vEgo < self.CP.minSteerSpeed:
+      if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'volkswagen':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=not self.CP.openpilotLongitudinalControl,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic
-      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
         self.low_speed_alert = True
-      elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
+      elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
+        if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
-        if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
+        if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
@@ -147,13 +147,13 @@ class CarSpecificEvents:
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
-      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.out.buttonEvents))
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
+      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-      if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
         self.low_speed_alert = True
-      if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
+      if CS.vEgo > (self.CP.minSteerSpeed + 4.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 7f57edf866..380d5df431 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -20,9 +20,8 @@ from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
+from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
-from openpilot.selfdrive.selfdrived.events import Events, ET
 
 REPLAY = "REPLAY" in os.environ
 
@@ -112,9 +111,9 @@ class Car:
       self.RI = RI
 
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -152,9 +151,6 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.events = Events()
-
-    self.car_events = CarSpecificEvents(self.CP)
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -196,30 +192,6 @@ class Car:
 
     return CS, RD
 
-  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
-    self.events.clear()
-
-    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CC_prev).to_msg()
-
-    self.events.add_from_msg(CS.events)
-
-    if self.CP.notCar:
-      # wait for everything to init first
-      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
-        # body always wants to enable
-        self.events.add(EventName.pcmEnable)
-
-    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
-      self.events.add(EventName.pedalPressed)
-
-    if RD is not None and len(RD.errors):
-      self.events.add(EventName.radarFault)
-
-    CS.events = self.events.to_msg()
-
   def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     """carState and carParams publish loop"""
 
@@ -271,9 +243,7 @@ class Car:
   def step(self):
     CS, RD = self.state_update()
 
-    self.update_events(CS, RD)
-
-    if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     self.state_publish(CS, RD)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 460b9f196d..10620c146f 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -20,7 +20,9 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.card import Car, convert_to_capnp
+from openpilot.selfdrive.car.card import convert_to_capnp
+from openpilot.selfdrive.selfdrived.events import ET
+from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -404,7 +406,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    card = Car(CI=self.CI)
+    selfdrived = SelfdriveD(CP=self.CP)
+    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -449,10 +452,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        card.update_events(CS, None)
-        card.CS_prev = CS
-        button_enable = (any(evt.enable for evt in CS.events) and
-                         not any(evt == EventName.pedalPressed for evt in card.events.names))
+        selfdrived.update_events(CS)
+        selfdrived.CS_prev = CS
+        button_enable = (selfdrived.events.contains(ET.ENABLE) and
+                         EventName.pedalPressed not in selfdrived.events.names)
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 63e078e6d7..160117faa8 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,6 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
+from panda import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -14,6 +15,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gps import get_gps_location_service
 
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
@@ -41,15 +43,21 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
 class SelfdriveD:
-  def __init__(self):
+  def __init__(self, CP=None):
     self.params = Params()
 
     # Ensure the current branch is cached, otherwise the first cycle lags
     build_metadata = get_build_metadata()
 
-    cloudlog.info("selfdrived is waiting for CarParams")
-    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
-    cloudlog.info("selfdrived got CarParams")
+    if CP is None:
+      cloudlog.info("selfdrived is waiting for CarParams")
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
+      cloudlog.info("selfdrived got CarParams")
+    else:
+      self.CP = CP
+
+    self.car_events = CarSpecificEvents(self.CP)
+    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -166,7 +174,20 @@ class SelfdriveD:
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
-      self.events.add_from_msg(CS.events)
+      car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
+      self.events.add_from_msg(car_events)
+
+      if self.CP.notCar:
+        # wait for everything to init first
+        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+          # body always wants to enable
+          self.events.add(EventName.pcmEnable)
+
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 008a901010..381e4dcb7f 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -30,7 +30,7 @@ optional arguments:
   --whitelist-cars WHITELIST_CARS       Whitelist given cars from the test (e.g. HONDA)
   --blacklist-procs BLACKLIST_PROCS     Blacklist given processes from the test (e.g. controlsd)
   --blacklist-cars BLACKLIST_CARS       Blacklist given cars from the test (e.g. HONDA)
-  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. carState.events)
+  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
   --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
   --upload-only                         Skips testing processes and uploads logs from previous test run
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 32609b0a8f..9aa61ab9c4 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de
\ No newline at end of file
+fbf16d1e9b056830a12fcf29a5137e1fc0b01354
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 78090372a6..ec84f37d1f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -42,7 +42,7 @@ source_segments = [
 segments = [
   ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
   ("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
-  ("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"),
+  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
   ("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
   ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
   ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
@@ -135,7 +135,7 @@ if __name__ == "__main__":
   parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
                       help="Blacklist given cars from the test (e.g. HONDA)")
   parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
-                      help="Extra fields or msgs to ignore (e.g. carState.events)")
+                      help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)")
   parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
                       help="Msgs to ignore (e.g. carEvents)")
   parser.add_argument("--update-refs", action="store_true",

From 6baa541501739775de0fb6e5956606cad8ba1227 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 4 Oct 2024 01:46:05 +0800
Subject: [PATCH 52/55] ui: refactor model updating and rendering into
 ModelRenderer class (#33702)

refactor model update

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
---
 selfdrive/ui/SConscript                    |   2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc | 120 +-----------
 selfdrive/ui/qt/onroad/annotated_camera.h  |   5 +-
 selfdrive/ui/qt/onroad/model.cc            | 208 +++++++++++++++++++++
 selfdrive/ui/qt/onroad/model.h             |  34 ++++
 selfdrive/ui/ui.cc                         |  93 ---------
 selfdrive/ui/ui.h                          |  27 +--
 7 files changed, 249 insertions(+), 240 deletions(-)
 create mode 100644 selfdrive/ui/qt/onroad/model.cc
 create mode 100644 selfdrive/ui/qt/onroad/model.h

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index da652f7bfd..643951fff3 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -30,7 +30,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
-          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
+          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
 # build translation files
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index fd8ad19c2e..f504ad69f1 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -75,8 +75,7 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
     0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
     0.0f, 0.0f, 1.0f).finished();
 
-  s->car_space_transform = video_transform * calib_transform;
-  s->clip_region = rect().adjusted(-500, -500, 500, 500);
+  model.setTransform(video_transform * calib_transform);
 
   float zx = zoom * 2 * center_x / w;
   float zy = zoom * 2 * center_y / h;
@@ -88,106 +87,10 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
   }};
 }
 
-void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
-  painter.save();
-
-  const UIScene &scene = s->scene;
-  SubMaster &sm = *(s->sm);
-
-  // lanelines
-  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i]);
-  }
-
-  // road edges
-  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i]);
-  }
-
-  // paint path
-  QLinearGradient bg(0, height(), 0, 0);
-  if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
-    // The first half of track_vertices are the points for the right side of the path
-    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
-    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
-
-    for (int i = 0; i < max_len; ++i) {
-      // Some points are out of frame
-      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
-      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
-
-      // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
-
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
-
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
-      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-
-      // Skip a point, unless next is last
-      i += (i + 2) < max_len ? 1 : 0;
-    }
-
-  } else {
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
-  }
-
-  painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices);
-
-  painter.restore();
-}
-
-void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
-  painter.save();
-
-  const float speedBuff = 10.;
-  const float leadBuff = 40.;
-  const float d_rel = lead_data.getDRel();
-  const float v_rel = lead_data.getVRel();
-
-  float fillAlpha = 0;
-  if (d_rel < leadBuff) {
-    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
-    if (v_rel < 0) {
-      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
-    }
-    fillAlpha = (int)(fmin(fillAlpha, 255));
-  }
-
-  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-  float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
-  float y = std::fmin(height() - sz * .6, (float)vd.y());
-
-  float g_xo = sz / 5;
-  float g_yo = sz / 10;
-
-  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
-  painter.drawPolygon(glow, std::size(glow));
-
-  // chevron
-  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(redColor(fillAlpha));
-  painter.drawPolygon(chevron, std::size(chevron));
-
-  painter.restore();
-}
-
 void AnnotatedCameraWidget::paintGL() {
   UIState *s = uiState();
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
-  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
 
   // draw camera frame
   {
@@ -218,7 +121,7 @@ void AnnotatedCameraWidget::paintGL() {
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-    CameraWidget::setFrameId(model.getFrameId());
+    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
     CameraWidget::paintGL();
   }
 
@@ -226,24 +129,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->scene.world_objects_visible) {
-    update_model(s, model);
-    drawLaneLines(painter, s);
-
-    if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
-      auto radar_state = sm["radarState"].getRadarState();
-      update_leads(s, radar_state, model.getPosition());
-      auto lead_one = radar_state.getLeadOne();
-      auto lead_two = radar_state.getLeadTwo();
-      if (lead_one.getStatus()) {
-        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
-      }
-      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
-      }
-    }
-  }
-
+  model.draw(painter, rect());
   dmon.draw(painter, rect());
   hud.updateState(*s);
   hud.draw(painter, rect());
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 324a6d7458..d205579f6c 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -5,6 +5,7 @@
 #include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
 class AnnotatedCameraWidget : public CameraWidget {
@@ -19,6 +20,7 @@ private:
   ExperimentalButton *experimental_btn;
   DriverMonitorRenderer dmon;
   HudRenderer hud;
+  ModelRenderer model;
   std::unique_ptr<PubMaster> pm;
 
   int skip_frame_count = 0;
@@ -29,9 +31,6 @@ protected:
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
   mat4 calcFrameMatrix() override;
-  void drawLaneLines(QPainter &painter, const UIState *s);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
new file mode 100644
index 0000000000..9a2c989b26
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -0,0 +1,208 @@
+#include "selfdrive/ui/qt/onroad/model.h"
+
+constexpr int CLIP_MARGIN = 500;
+constexpr float MIN_DRAW_DISTANCE = 10.0;
+constexpr float MAX_DRAW_DISTANCE = 100.0;
+
+static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
+  const auto &line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
+}
+
+void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
+  auto &sm = *(uiState()->sm);
+  if (sm.updated("carParams")) {
+    longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  }
+
+  // Check if data is up-to-date
+  if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
+    return;
+  }
+
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+
+  painter.save();
+
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+
+  update_model(model, lead_one);
+  drawLaneLines(painter);
+  drawPath(painter, model, surface_rect.height());
+
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  painter.restore();
+}
+
+void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
+  for (int i = 0; i < 2; ++i) {
+    const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
+    if (lead_data.getStatus()) {
+      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
+      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
+    }
+  }
+}
+
+void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  const auto &model_position = model.getPosition();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+
+  // update lane lines
+  const auto &lane_lines = model.getLaneLines();
+  const auto &line_probs = model.getLaneLineProbs();
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  for (int i = 0; i < std::size(lane_line_vertices); i++) {
+    lane_line_probs[i] = line_probs[i];
+    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+  }
+
+  // update road edges
+  const auto &road_edges = model.getRoadEdges();
+  const auto &edge_stds = model.getRoadEdgeStds();
+  for (int i = 0; i < std::size(road_edge_vertices); i++) {
+    road_edge_stds[i] = edge_stds[i];
+    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+  }
+
+  // update path
+  if (lead.getStatus()) {
+    const float lead_d = lead.getDRel() * 2.;
+    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
+  }
+  max_idx = get_path_length_idx(model_position, max_distance);
+  mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
+}
+
+void ModelRenderer::drawLaneLines(QPainter &painter) {
+  // lanelines
+  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+    painter.drawPolygon(lane_line_vertices[i]);
+  }
+
+  // road edges
+  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+    painter.drawPolygon(road_edge_vertices[i]);
+  }
+}
+
+void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
+  QLinearGradient bg(0, height, 0, 0);
+  if (experimental_model) {
+    // The first half of track_vertices are the points for the right side of the path
+    const auto &acceleration = model.getAcceleration().getX();
+    const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
+
+    for (int i = 0; i < max_len; ++i) {
+      // Some points are out of frame
+      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
+      if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
+
+      // Flip so 0 is bottom of frame
+      float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
+
+      // speed up: 120, slow down: 0
+      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+      // FIXME: painter.drawPolygon can be slow if hue is not rounded
+      path_hue = int(path_hue * 100 + 0.5) / 100;
+
+      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);        // lighter when grey
+      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+
+      // Skip a point, unless next is last
+      i += (i + 2) < max_len ? 1 : 0;
+    }
+
+  } else {
+    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
+    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
+    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
+}
+
+void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                             const QPointF &vd, const QRect &surface_rect) {
+  const float speedBuff = 10.;
+  const float leadBuff = 40.;
+  const float d_rel = lead_data.getDRel();
+  const float v_rel = lead_data.getVRel();
+
+  float fillAlpha = 0;
+  if (d_rel < leadBuff) {
+    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
+    if (v_rel < 0) {
+      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
+    }
+    fillAlpha = (int)(fmin(fillAlpha, 255));
+  }
+
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+  float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
+  float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
+
+  float g_xo = sz / 5;
+  float g_yo = sz / 10;
+
+  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
+  painter.setBrush(QColor(218, 202, 37, 255));
+  painter.drawPolygon(glow, std::size(glow));
+
+  // chevron
+  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
+  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  painter.drawPolygon(chevron, std::size(chevron));
+}
+
+// Projects a point in car to space to the corresponding point in full frame image space.
+bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  Eigen::Vector3f input(in_x, in_y, in_z);
+  auto pt = car_space_transform * input;
+  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  return clip_region.contains(*out);
+}
+
+void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
+                                     QPolygonF *pvd, int max_idx, bool allow_invert) {
+  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
+  QPointF left, right;
+  pvd->clear();
+  for (int i = 0; i <= max_idx; i++) {
+    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
+    if (line_x[i] < 0) continue;
+
+    bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
+    bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
+    if (l && r) {
+      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
+      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
+        continue;
+      }
+      pvd->push_back(left);
+      pvd->push_front(right);
+    }
+  }
+}
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
new file mode 100644
index 0000000000..358fce53f4
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QPainter>
+#include <QPolygonF>
+
+#include "selfdrive/ui/ui.h"
+
+class ModelRenderer {
+public:
+  ModelRenderer() {}
+  void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
+  void draw(QPainter &painter, const QRect &surface_rect);
+
+private:
+  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
+  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
+                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
+  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
+  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
+  void drawLaneLines(QPainter &painter);
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+
+  bool longitudinal_control = false;
+  bool experimental_model = false;
+  float lane_line_probs[4] = {};
+  float road_edge_stds[2] = {};
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4] = {};
+  QPolygonF road_edge_vertices[2] = {};
+  QPointF lead_vertices[2] = {};
+  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
+  QRectF clip_region;
+};
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 852980d54e..a9206b59bb 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -14,90 +14,6 @@
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
-// Projects a point in car to space to the corresponding point in full frame
-// image space.
-static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
-  Eigen::Vector3f input(in_x, in_y, in_z);
-  auto transformed = s->car_space_transform * input;
-  *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
-  return s->clip_region.contains(*out);
-}
-
-int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
-  for (int i = 0; i < 2; ++i) {
-    auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
-    if (lead_data.getStatus()) {
-      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
-    }
-  }
-}
-
-void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
-                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
-  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
-  QPointF left, right;
-  pvd->clear();
-  for (int i = 0; i <= max_idx; i++) {
-    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
-    if (line_x[i] < 0) continue;
-
-    bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
-    bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
-    if (l && r) {
-      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
-      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
-        continue;
-      }
-      pvd->push_back(left);
-      pvd->push_front(right);
-    }
-  }
-}
-
-void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model) {
-  UIScene &scene = s->scene;
-  auto model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1),
-                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-
-  // update lane lines
-  const auto lane_lines = model.getLaneLines();
-  const auto lane_line_probs = model.getLaneLineProbs();
-  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
-  for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
-    scene.lane_line_probs[i] = lane_line_probs[i];
-    update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
-  }
-
-  // update road edges
-  const auto road_edges = model.getRoadEdges();
-  const auto road_edge_stds = model.getRoadEdgeStds();
-  for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
-    scene.road_edge_stds[i] = road_edge_stds[i];
-    update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
-  }
-
-  // update path
-  auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
-  if (lead_one.getStatus()) {
-    const float lead_d = lead_one.getDRel() * 2.;
-    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
-  }
-  max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
-}
-
 static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
@@ -136,9 +52,6 @@ static void update_state(UIState *s) {
   } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
     scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
   }
-  if (sm.updated("carParams")) {
-    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
@@ -147,11 +60,6 @@ static void update_state(UIState *s) {
     scene.light_sensor = -1;
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
-
-  scene.world_objects_visible = scene.world_objects_visible ||
-                                (scene.started &&
-                                 sm.rcv_frame("liveCalibration") > scene.started_frame &&
-                                 sm.rcv_frame("modelV2") > scene.started_frame);
 }
 
 void ui_update_params(UIState *s) {
@@ -177,7 +85,6 @@ void UIState::updateStatus() {
       scene.started_frame = sm->frame;
     }
     started_prev = scene.started;
-    scene.world_objects_visible = false;
     emit offroadTransition(!scene.started);
   }
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 8a06a4cccb..6ff67cacde 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -7,7 +7,6 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
-#include <QPolygonF>
 
 #include "cereal/messaging/messaging.h"
 #include "common/mat.h"
@@ -22,8 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
 const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
 
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
 const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
   0.0, 1.0, 0.0,
   0.0, 0.0, 1.0,
@@ -58,21 +55,10 @@ typedef struct UIScene {
   Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
   cereal::PandaState::PandaType pandaType;
 
-  // modelV2
-  float lane_line_probs[4];
-  float road_edge_stds[2];
-  QPolygonF track_vertices;
-  QPolygonF lane_line_vertices[4];
-  QPolygonF road_edge_vertices[2];
-
-  // lead
-  QPointF lead_vertices[2];
-
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, longitudinal_control;
-  bool world_objects_visible = false;
+  bool started, ignition, is_metric;
   uint64_t started_frame;
 } UIScene;
 
@@ -89,13 +75,9 @@ public:
   std::unique_ptr<SubMaster> sm;
   UIStatus status;
   UIScene scene = {};
-
   QString language;
   PrimeState *prime_state;
 
-  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
-  QRectF clip_region;
-
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
@@ -145,11 +127,4 @@ public slots:
 };
 
 Device *device();
-
 void ui_update_params(UIState *s);
-int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
-void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model);
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
-                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);

From f7c4aad8bda187e05d24ceac307384aa5e610cb9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 4 Oct 2024 01:53:05 +0800
Subject: [PATCH 53/55] cameread: remove outdated 'm' and 'atomic' libraries
 (#33714)

remove unused libs
---
 system/camerad/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 8bafd83f08..1820d21b3d 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
+libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
                          'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])

From b7a388773159f29ef5a8864918cf155ea8e5c0af Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 3 Oct 2024 13:13:19 -0700
Subject: [PATCH 54/55] process_replay: fix llk migration (#33717)

* If field is empty put nans

* Move import out
---
 selfdrive/test/process_replay/migration.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 9241a3d493..c4f1d19d9d 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -142,6 +142,7 @@ def migrate_liveTracks(msgs):
 
 @migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
 def migrate_liveLocationKalman(msgs):
+  nans = [float('nan')] * 3
   ops = []
   for index, msg in msgs:
     m = messaging.new_message('livePose')
@@ -149,8 +150,8 @@ def migrate_liveLocationKalman(msgs):
     m.logMonoTime = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
       lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
-      lp_field.x, lp_field.y, lp_field.z = llk_field.value
-      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
+      lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
+      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))

From 72e19ccfc6de0a145bf778fdc701878f969347bb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 3 Oct 2024 14:25:48 -0700
Subject: [PATCH 55/55] jenkins: disable time to onroad (#33719)

comment
---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 84514948c7..7137b8bf36 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -149,7 +149,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {