invoke platform selector on show event

missed header
bros
2026-06-21 08:12:07 +08:00 · 2025-02-01 00:26:35 -05:00 · 2025-02-01 00:19:44 -05:00 · 2025-02-01 00:05:59 -05:00 · 2025-02-01 00:03:59 -05:00 · 2025-01-31 23:57:16 -05:00
184 changed files with 2067 additions and 906 deletions
@@ -6,12 +6,12 @@

 ExitHandler do_exit;

-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
  std::vector<std::string> service_list;
  for (const auto& it : services) {
    std::string name = it.second.name;
    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+    if (zmq_to_msgq && !in_whitelist) {
      continue;
    }
    service_list.push_back(name);
@@ -8,6 +8,7 @@ import uuid
 import socket
 import logging
 import traceback
+import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -15,6 +16,8 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ

 def json_handler(obj):
+  if isinstance(obj, np.bool_):
+    return bool(obj)
  # if isinstance(obj, (datetime.date, datetime.time)):
  #   return obj.isoformat()
  return repr(obj)
@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Notre Dame (Default)"
@@ -89,6 +89,7 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AdbEnabled", PERSISTENT},
    {"AlwaysOnDM", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
@@ -205,6 +206,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
    {"CarParamsSPPersistent", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
    {"OffroadMode", CLEAR_ON_MANAGER_START},
@@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec 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=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec 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=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
@@ -128,7 +128,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
@@ -260,7 +260,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-24|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2023-25|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -63,3 +63,12 @@ A good pull request has all of the following:
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
+
+## Contributing Training Data
+
+### A guide for forks
+
+In order for your fork's data to be eligible for the training set:
+* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
+* **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
@@ -29,6 +29,22 @@ Here's an example command for connecting to your device using its tethered conne

 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).

+
+## ADB
+
+In order to use ADB on your device, you'll need to enable it in the device's settings.
+
+* Enable ADB in your device's settings
+* Connect to your device
+    * `adb shell` over USB
+    * `adb connect` over WiFi
+    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
+
+> [!NOTE]
+> The default port for ADB is 5555 on the comma 3/3X.
+
+For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
+
 ### Notes

 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.4"
+  export AGNOS_VERSION="11.6"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -165,7 +165,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"

@@ -42,19 +42,19 @@ class CarSpecificEvents:
    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)

  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.carName in ('body', 'mock'):
+    if self.CP.brand in ('body', 'mock'):
      events = Events()

-    elif self.CP.carName in ('subaru', 'mazda'):
+    elif self.CP.brand in ('subaru', 'mazda'):
      events = self.create_common_events(CS, CS_prev)

-    elif self.CP.carName == 'ford':
+    elif self.CP.brand == 'ford':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])

-    elif self.CP.carName == 'nissan':
+    elif self.CP.brand == 'nissan':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])

-    elif self.CP.carName == 'chrysler':
+    elif self.CP.brand == 'chrysler':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])

      # Low speed steer alert hysteresis logic
@@ -65,7 +65,7 @@ class CarSpecificEvents:
      if self.low_speed_alert:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.carName == 'honda':
+    elif self.CP.brand == 'honda':
      events = self.create_common_events(CS, CS_prev, pcm_enable=False)

      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +86,7 @@ class CarSpecificEvents:
      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
        events.add(EventName.manualRestart)

-    elif self.CP.carName == 'toyota':
+    elif self.CP.brand == 'toyota':
      events = self.create_common_events(CS, CS_prev)

      if self.CP.openpilotLongitudinalControl:
@@ -101,7 +101,7 @@ class CarSpecificEvents:
            # while in standstill, send a user alert
            events.add(EventName.manualRestart)

-    elif self.CP.carName == 'gm':
+    elif self.CP.brand == 'gm':
      # The ECM allows enabling on falling edge of set, but only rising edge of resume
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                   GearShifter.eco, GearShifter.manumatic],
@@ -120,7 +120,7 @@ class CarSpecificEvents:
      if CS.vEgo < self.CP.minSteerSpeed:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.carName == 'volkswagen':
+    elif self.CP.brand == 'volkswagen':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                         pcm_enable=self.CP.pcmCruise,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -143,7 +143,7 @@ class CarSpecificEvents:
      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
      #   events.add(EventName.steerTimeLimit)

-    elif self.CP.carName == 'hyundai':
+    elif self.CP.brand == 'hyundai':
      # 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
@@ -160,7 +160,7 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    else:
-      raise ValueError(f"Unsupported car: {self.CP.carName}")
+      raise ValueError(f"Unsupported car: {self.CP.brand}")

    return events

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
@@ -104,7 +105,9 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
+
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
      self.CP = self.CI.CP
@@ -199,7 +202,7 @@ class Car:

    # Update carState from CAN
    CS = self.CI.update(can_list)
-    if self.CP.carName == 'mock':
+    if self.CP.brand == 'mock':
      CS = self.mock_carstate.update(CS)

    # Update radar tracks from CAN
@@ -367,11 +367,11 @@ class TestCarModelBase(unittest.TestCase):
      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())

-      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())

-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
        if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
          self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())

@@ -426,7 +426,7 @@ class TestCarModelBase(unittest.TestCase):
        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
        # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
        # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
          # only the rising edges are expected to match
          if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
            checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
        if button_enable and not mismatch:
          self.safety.set_controls_allowed(False)

-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()

      CS_prev = CS
@@ -14,7 +14,7 @@ def main():
  cloudlog.info("plannerd is waiting for CarParams")
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-PORT=5555
-
-setprop service.adb.tcp.port $PORT
-sudo systemctl start adbd
-
-IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
-echo "then, connect on your computer:"
-echo "adb connect $IP:$PORT"
@@ -24,14 +24,16 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
-TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
-TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
+INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
+INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20


+def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
+  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
+
+
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
  assert len(values) == len(stds) == 3
  measurement.x, measurement.y, measurement.z = map(float, values)
@@ -269,11 +271,11 @@ def main():

  filter_initialized = False
  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
-  observation_timing_invalid = defaultdict(int)
  observation_input_invalid = defaultdict(int)

-  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}

  initial_pose = params.get("LocationFilterInitialState")
  if initial_pose is not None:
@@ -306,19 +308,20 @@ def main():
            continue

          if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid[which] += 1
+            print(f"Observation {which} ignored due to failed timing check")
+            observation_input_invalid[which] += 1
+            print(observation_input_invalid[which])
          elif res == HandleLogResult.INPUT_INVALID:
+            print(f"Observation {which} ignored due to failed sanity check")
            observation_input_invalid[which] += 1
          else:
            observation_input_invalid[which] *= input_invalid_decay[which]
-            observation_timing_invalid[which] *= timing_invalid_decay[which]
    else:
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

      msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
@@ -1,56 +0,0 @@
-import capnp
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
-
-  def setup_method(self):
-    self.pm = messaging.PubMaster(self.LLD_MSGS)
-
-    self.params = Params()
-    self.params.put_bool("UbloxAvailable", True)
-    managed_processes['locationd'].prepare()
-    managed_processes['locationd'].start()
-
-  def teardown_method(self):
-    managed_processes['locationd'].stop()
-
-  def get_msg(self, name, t):
-    try:
-      msg = messaging.new_message(name)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(name, 0)
-
-    if name == "gpsLocationExternal":
-      msg.gpsLocationExternal.flags = 1
-      msg.gpsLocationExternal.hasFix = True
-      msg.gpsLocationExternal.verticalAccuracy = 1.0
-      msg.gpsLocationExternal.speedAccuracy = 1.0
-      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
-      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
-      msg.gpsLocationExternal.latitude = float(self.lat)
-      msg.gpsLocationExternal.longitude = float(self.lon)
-      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
-      msg.gpsLocationExternal.altitude = float(self.alt)
-    #if name == "gnssMeasurements":
-    #  msg.gnssMeasurements.measTime = t
-    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
-    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.positionECEF.valid = True
-    #  msg.gnssMeasurements.velocityECEF.value = []
-    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.velocityECEF.valid = True
-    elif name == 'cameraOdometry':
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
-    msg.logMonoTime = t
-    msg.valid = True
-    return msg
@@ -23,8 +23,10 @@ class Scenario(Enum):
  BASE = 'base'
  GYRO_OFF = 'gyro_off'
  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
  ACCEL_OFF = 'accel_off'
  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'

@@ -63,18 +65,20 @@ def run_scenarios(scenario, logs):
  elif scenario == Scenario.GYRO_OFF:
    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
    def gyro_spike(msg):
      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
+    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)

  elif scenario == Scenario.ACCEL_OFF:
    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
    def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 10.0
-    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 100.0
+    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)

  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
    def timing_spike(msg):
@@ -121,7 +125,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_gyro_spikes(self):
+  def test_gyro_spike(self):
    """
    Test: a gyroscope spike in the middle of the segment
    Expected Result:
@@ -132,8 +136,17 @@ class TestLocationdScenarios:
    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_gyro_spikes(self):
+    """
+    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0

  def test_accel_off(self):
    """
@@ -148,7 +161,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_accel_spikes(self):
+  def test_accel_spike(self):
    """
    ToDo:
    Test: an accelerometer spike in the middle of the segment
@@ -173,5 +186,5 @@ class TestLocationdScenarios:
    Expected Result: inputsOK becomes False after N of bad measurements
    """
    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0
@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
    self.offline_friction = 0.0
    self.offline_latAccelFactor = 0.0
    self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'

    if CP.lateralTuning.which() == 'torque':
      self.offline_friction = CP.lateralTuning.torque.friction
@@ -26,6 +26,7 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics,
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+from openpilot.system import sentry

 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -37,6 +38,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'

+
 class DriverStateResult(ctypes.Structure):
  _fields_ = [
    ("face_orientation", ctypes.c_float*3),
@@ -55,6 +57,7 @@ class DriverStateResult(ctypes.Structure):
    ("ready_prob", ctypes.c_float*4),
    ("not_ready_prob", ctypes.c_float*2)]

+
 class DMonitoringModelResult(ctypes.Structure):
  _fields_ = [
    ("driver_state_lhd", DriverStateResult),
@@ -63,6 +66,7 @@ class DMonitoringModelResult(ctypes.Structure):
    ("wheel_on_right_prob", ctypes.c_float),
    ("features", ctypes.c_float*FEATURE_LEN)]

+
 class ModelState:
  inputs: dict[str, np.ndarray]
  output: np.ndarray
@@ -82,7 +86,7 @@ class ModelState:
    else:
      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)

-  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
    self.numpy_inputs['calib'][0,:] = calib

    t1 = time.perf_counter()
@@ -119,6 +123,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]

+
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
  msg = messaging.new_message('driverStateV2', valid=True)
@@ -139,6 +144,9 @@ def main():
  setproctitle(PROCESS_NAME)
  set_realtime_priority(1)

+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+
  cl_context = CLContext()
  model = ModelState(cl_context)
  cloudlog.warning("models loaded, dmonitoringmodeld starting")
@@ -177,4 +185,10 @@ def main():


 if __name__ == "__main__":
-  main()
+  try:
+    main()
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
@@ -93,9 +93,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.frameIdExtra = vipc_frame_id_extra
  driving_model_data.frameDropPerc = frame_drop_perc
  driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
+  driving_model_data.action.desiredCurvature = desired_curvature

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -106,16 +104,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.modelExecutionTime = model_execution_time

  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
  temporal_pose = modelV2.temporalPose
@@ -125,12 +118,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()

  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

  # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curvature
+  modelV2.action.desiredCurvature = desired_curvature

  # times at X_IDXS according to model plan
  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -159,8 +150,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()

-  lane_line_meta = driving_model_data.laneLineMeta
-  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)

  # road edges
  modelV2.init('roadEdges', 2)
@@ -194,7 +194,7 @@ def main(demo=False):
    CP = 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)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
  steer_delay = CP.steerActuatorDelay + .2
@@ -105,9 +105,6 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
  while (!do_exit && check_all_connected(pandas)) {
    std::unique_ptr<Message> msg(subscriber->receive());
    if (!msg) {
-      if (errno == EINTR) {
-        do_exit = true;
-      }
      continue;
    }

@@ -205,7 +202,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }

-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
  bool ignition_local = false;
  const uint32_t pandas_cnt = pandas.size();

@@ -253,7 +250,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
      health.ignition_line_pkt = 0;
    }

-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;

    pandaStates.push_back(health);
  }
@@ -340,16 +337,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
  pm->send("peripheralState", msg);
 }

-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
-  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
-
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
  std::vector<std::string> connected_serials;
  for (Panda *p : pandas) {
    connected_serials.push_back(p->hw_serial());
  }

  {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
    if (!ignition_opt) {
      LOGE("Failed to get ignition_opt");
      return;
@@ -378,9 +373,6 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
      }
    }

-    sm.update(0);
-    const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-    const bool engaged_mads = process_mads_heartbeat(&sm);
    for (const auto &panda : pandas) {
      panda->send_heartbeat(engaged, engaged_mads);
    }
@@ -446,9 +438,13 @@ void pandad_run(std::vector<Panda *> &pandas) {
  std::thread send_thread(can_send_thread, pandas, fake_send);

  RateKeeper rk("pandad", 100);
+  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
  PubMaster pm({"can", "pandaStates", "peripheralState"});
  PandaSafety panda_safety(pandas);
  Panda *peripheral_panda = pandas[0];
+  bool engaged = false;
+  bool engaged_mads = false;
+  bool always_offroad = false;

  // Main loop: receive CAN data and process states
  while (!do_exit && check_all_connected(pandas)) {
@@ -461,7 +457,11 @@ void pandad_run(std::vector<Panda *> &pandas) {

    // Process panda state at 10 Hz
    if (rk.frame() % 10 == 0) {
-      process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
+      sm.update(0);
+      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+      engaged_mads = process_mads_heartbeat(&sm);
+      always_offroad = panda_safety.getOffroadMode();
+      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
      panda_safety.configureSafetyMode();
    }

@@ -473,6 +473,16 @@ void pandad_run(std::vector<Panda *> &pandas) {
    rk.keepTime();
  }

+  // Close relay on exit to prevent a fault
+  const bool is_onroad = Params().getBool("IsOnroad");
+  if (is_onroad && !engaged) {
+    for (auto &p : pandas) {
+      if (p->connected()) {
+        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+      }
+    }
+  }
+
  send_thread.join();
 }

@@ -3,8 +3,8 @@
 import os
 import usb1
 import time
+import signal
 import subprocess
-from typing import NoReturn

 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
@@ -61,13 +61,25 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda


-def main() -> NoReturn:
+def main() -> None:
+  # signal pandad to close the relay and exit
+  def signal_handler(signum, frame):
+    cloudlog.info(f"Caught signal {signum}, exiting")
+    nonlocal do_exit
+    do_exit = True
+    if process is not None:
+      process.send_signal(signal.SIGINT)
+
+  process = None
+  do_exit = False
+  signal.signal(signal.SIGINT, signal_handler)
+
  count = 0
  first_run = True
  params = Params()
  no_internal_panda_count = 0

-  while True:
+  while not do_exit:
    try:
      count += 1
      cloudlog.event("pandad.flash_and_connect", count=count)
@@ -159,8 +171,9 @@ def main() -> NoReturn:

    # run pandad with all connected serials as arguments
    os.environ['MANAGER_DAEMON'] = 'pandad'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
-    subprocess.run(["./pandad", *panda_serials], check=True)
+    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process.wait()
+

 if __name__ == "__main__":
  main()
@@ -154,7 +154,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM

 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  text = "Enable Adaptive Cruise to Engage"
-  if CP.carName == "honda":
+  if CP.brand == "honda":
    text = "Enable Main Switch to Engage"
  return NoEntryAlert(text)

@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
    self.is_metric = self.params.get_bool("IsMetric")
    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")

-    car_recognized = self.CP.carName != 'mock'
+    car_recognized = self.CP.brand != 'mock'

    # cleanup old params
    if not self.CP.experimentalLongitudinalAvailable:
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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jason Wen	62254e411b	invoke platform selector on show event	2025-02-01 00:26:35 -05:00
Jason Wen	40df537d7a	missed header	2025-02-01 00:19:44 -05:00
Jason Wen	2d60a61d5e	bros	2025-02-01 00:05:59 -05:00
Jason Wen	7afc72942c	add year list to bundle	2025-02-01 00:03:59 -05:00
Jason Wen	23ec81d67a	move loadPlatformList to sp util	2025-01-31 23:57:16 -05:00
Jason Wen	9500489695	split set platform	2025-01-31 23:51:56 -05:00
Jason Wen	29d39ffe71	it's a json now	2025-01-31 23:42:59 -05:00
Jason Wen	726b3774b6	bump opendbc	2025-01-31 23:40:27 -05:00
Jason Wen	3f9502ca6b	slight cleanup	2025-01-31 23:38:13 -05:00
Jason Wen	3a9d27b610	do not include dashcamOnly yet	2025-01-30 23:16:20 -05:00
Jason Wen	b9b7e8b556	Fix name	2025-01-30 22:37:10 -05:00
Jason Wen	b1315797c5	extract platform from CarPlatformBundle directly	2025-01-30 22:35:31 -05:00
Jason Wen	158eaf4dda	introduce `getPlatformBundle`	2025-01-30 22:20:58 -05:00
Jason Wen	59afe4df1a	pass all fields to a platform in json	2025-01-30 22:14:46 -05:00
Jason Wen	33e06a86f9	include all dashcamOnly platforms	2025-01-30 08:34:11 -05:00
Jason Wen	84e3a6d0ed	add brand to parser	2025-01-30 00:37:35 -05:00
Jason Wen	25fa50b42c	generate no car docs platforms	2025-01-30 00:31:42 -05:00
Jason Wen	1a67ce35ff	start cleanup	2025-01-29 23:22:37 -05:00
Jason Wen	ad131fef49	generate `car.CarParams.brand` in json	2025-01-29 23:20:52 -05:00
Jason Wen	be0e64ab45	Merge branch 'master-new' into fcr	2025-01-27 22:50:21 -05:00
Jason Wen	767880ffaf	ui: Display default driving model name (#623 ) * ui: Display default driving model if in use * add ref commit and tests * fix commit * update msg * update msg * fix lint * use sha256 hash instead	2025-01-27 22:49:28 -05:00
Jason Wen	77ea048865	Encoding	2025-01-26 17:49:54 -05:00
Jason Wen	2c5753940b	Need to be str	2025-01-26 08:24:29 -05:00
Jason Wen	f93404294b	use toList	2025-01-26 00:15:50 -05:00
Jason Wen	b2843947bc	need that param too	2025-01-26 00:13:23 -05:00
Jason Wen	10848c91cb	old qt	2025-01-26 00:13:02 -05:00
Jason Wen	06b7718bcc	show demo car	2025-01-26 00:03:37 -05:00
Jason Wen	3fcd3e192c	tldr	2025-01-26 00:01:07 -05:00
Jason Wen	6e99de6acb	set while initializing	2025-01-25 23:56:26 -05:00
Jason Wen	6a797cdd0e	confirm/cancel	2025-01-25 23:46:04 -05:00
Jason Wen	1073f54245	Merge branch 'master-new' into fcr # Conflicts: # opendbc_repo	2025-01-25 23:43:23 -05:00
Jason Wen	c706fc3f55	different prompt in onroad/offroad	2025-01-25 23:42:30 -05:00
Jason Wen	3abe1c9168	Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#622 )	2025-01-25 23:14:35 -05:00
Jason Wen	8801d1eb8e	test_processes: update ref logs to `7e5a84b`	2025-01-25 22:51:46 -05:00
Jason Wen	7e5a84b897	Merge branch 'upstream/openpilot/master' into sync-20250125 # Conflicts: # opendbc_repo # panda # selfdrive/modeld/fill_model_msg.py # selfdrive/pandad/pandad.cc # selfdrive/test/process_replay/ref_commit # selfdrive/ui/qt/home.h # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/tests/test_ui/run.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts	2025-01-25 22:50:03 -05:00
Jason Wen	e4e3a7404c	more precision search	2025-01-25 22:47:48 -05:00
Jason Wen	5bed14233c	set actual fingerprint	2025-01-25 22:36:12 -05:00
Jason Wen	2d25bdca0e	bump opendbc	2025-01-25 22:31:25 -05:00
Jason Wen	2e15bfbe92	single list is fine	2025-01-25 22:22:51 -05:00
Jason Wen	999feae5f3	search with user input	2025-01-25 21:25:06 -05:00
Mauricio Alvarez Leon	c57f535238	add adb toggle to developerPanel (#34459 ) * add adb toggle to developerPanel * translations + toggleOrder * initial docs * move adb.sh into toggle * finish up docs * QProcess * adbToggle h * translations * vanish translations * description * tr --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-01-25 13:24:24 -08:00
Andrei Radulescu	754882c985	reset: auto-format is back (#34479 ) * Revert "update factory reset" This reverts commit `533206be2f`. * keep reset message * Update selfdrive/ui/qt/setup/reset.h --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-01-25 12:29:48 -08:00
Jason Wen	8998ed067e	symlink dat	2025-01-25 14:04:30 -05:00
Shane Smiskol	1d86afdf83	carName -> brand (#34474 ) * bump * brand * body is lower	2025-01-25 01:39:06 -06:00
Shane Smiskol	dc7fa59e35	Toyota: tweak longitudinal gains (#34473 ) bump	2025-01-25 01:36:03 -06:00
Jason Wen	f418fbddb9	symlink for OP	2025-01-25 02:02:38 -05:00
Kacper Rączy	93a8a18b6d	locationd: frequency based bad observation resiliance and recovery (#34476 ) * Improve it * Fix static * Fix test_consistent_timing_spikes test * Fix tests * Comment * Remove crap	2025-01-25 05:38:20 +00:00
Jason Wen	7544a47505	QFrame	2025-01-24 22:45:30 -05:00
Jason Wen	45de7664bc	ui: move alpha longitudinal control toggle to Developer panel (#34467 ) * ui: move alpha longitudinal control toggle to Developer panel * show toggle in ui preview * Revert "show toggle in ui preview" This reverts commit 4b12964726b966a906840099ecc1d584e307b614. * write to CarParamsPersistent on ui init * no need for new msg * missed * no icon	2025-01-24 18:24:56 -08:00
Shane Smiskol	a90720690c	Toyota: fix acceleration discontinuity when stopping (#34472 ) bump	2025-01-24 17:16:55 -08:00
Shane Smiskol	540c45bfec	Log git diff inside submodules (#34469 ) get diffs inside submodules	2025-01-24 16:27:24 -08:00
Adeeb Shihadeh	45276652b8	update translations	2025-01-24 16:23:23 -08:00
Shane Smiskol	7803ff4f62	Revert "update translations" my lupdate is broken?! This reverts commit `9982b03e47`.	2025-01-24 13:50:36 -08:00
Shane Smiskol	9982b03e47	update translations	2025-01-24 13:49:59 -08:00
Adeeb Shihadeh	d0f5e5a09d	Revert "Move alpha longitudinal control toggle to developer panel (#34223 )" This reverts commit `d4a6f62c40`.	2025-01-24 10:47:14 -08:00
Dean Lee	2e1436a515	camerad/ife.h: add #pragma once (#34464 ) add #pragma once	2025-01-24 10:24:51 -08:00
Dean Lee	26cedc5ff1	bridge: remove deprecated services check (#34463 ) Remove deprecated services check from get_services	2025-01-24 10:24:20 -08:00
Dean Lee	770c59eb4e	Revert "ui: show driver camera in popup on demand" (#34412 ) Revert "ui: show driver camera in popup on demand (#33459)" This reverts commit `5f3625436c`. Co-authored-by: Shane Smiskol <shane@smiskol.com>	2025-01-23 22:12:19 -08:00
Maxime Desroches	822c624413	bump opendbc (#34461 ) bump	2025-01-23 20:27:22 -08:00
Adeeb Shihadeh	c916635ad8	agnos 11.6 (#34458 )	2025-01-23 17:04:41 -08:00
Adeeb Shihadeh	cf83167ce6	add AdbEnabled param	2025-01-23 16:14:46 -08:00
Maxime Desroches	52f935da74	model_replay: check `modelExecutionTime` (#34457 ) * metric * fix * format * table * test failure * cleanup * 3 * 4	2025-01-23 16:14:02 -08:00
programanichiro	645418e754	Multilang ja translations (#34444 ) * Japanese translation * Adjusting the translation to avoid truncation. 見切れ翻訳を調整。 * Fixes some issues1. 指摘事項調整。 * update --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2025-01-23 15:35:15 -08:00
ZwX1616	0ca726ed29	camerad: increase dcam ae min (#34455 ) * never dip below 0.125 * clamp is double	2025-01-23 14:13:35 -08:00
Adeeb Shihadeh	aca1567a8c	didn't bump yet	2025-01-23 11:16:14 -08:00
Adeeb Shihadeh	be9e5fe763	agnos 11.6	2025-01-23 10:48:53 -08:00
Shane Smiskol	02ec9e5bf8	dmonitoringmodeld: clean exit (#34454 ) * nice exit * correct spacing * sentry	2025-01-22 20:39:52 -08:00
Shane Smiskol	590a37a566	Ford CAN: enable long safety in release (#34453 ) bump	2025-01-22 20:23:00 -08:00
ugtthis	8613530b46	Keyboard UX/UI: Access to caps lock - clearer icons (#34362 ) * add-slash-to uppercase * caps-lock-works * leaner and simpler * this is simpler * better... * simpler * rm comments * clearer naming * make more explicit * change to SHIFT_KEY * change name * works - no more double tap * better and works * more readable * simpler but still readable * more self documenting * whoops * add back - needed for if string requirment not meant	2025-01-22 19:51:54 -08:00
Adeeb Shihadeh	c3211b1c25	bump panda	2025-01-22 19:46:58 -08:00
Adeeb Shihadeh	5db124ae07	agnos 11.5 (#34413 ) * agnos 11.5 * new build * prod manifest	2025-01-22 19:46:06 -08:00
Dean Lee	f98c6a7f8a	camerad: properly clean up sync objects after request flush (#34418 ) destroy sync objects after re-align	2025-01-22 19:39:05 -08:00
royjr	feb9b1cd8d	op.sh start stop restart (#34404 ) * op start stop restart * =} * only agnos * Revert "only agnos" This reverts commit ffb720ff3f08f5bd59ad77a45d89c3ac3b4d4621. * only agnos systemctl * fix got taps * cleanup --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-01-22 17:01:29 -08:00
commaci-public	dcb05af228	[bot] Update Python packages (#34431 ) * Update Python packages * codespell * update refs --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Shane Smiskol <shane@smiskol.com>	2025-01-21 21:04:19 -08:00
Adeeb Shihadeh	bb09fd0d4e	pandad: reset safety mode on exit (#32103 ) * boardd: reset safety mode on exit old-commit-hash: dd18ccbf0a9ab72ace0a7533632d5939c0719953 * comment old-commit-hash: 01b598e8dde93548f7783be19b1cb37d22fadc23 * log it old-commit-hash: 181c4d412e9e3a9c576934e16fc26a9b6e07a117 * logmessaged might not be alive old-commit-hash: 7483ba0eac42875a822df97596d23ff277bf3865 * reproduction, manager gets SIGTERM from python_process old-commit-hash: b90402bd776c3933bfe3dd60998f9913b4bd0068 * even smaller repro old-commit-hash: 03dd430b7131da2b48243714df0513c6a1e594f0 * should work old-commit-hash: 388c4273385ee4c67b1a229ccb9abac6dd94dd0f * let's not change that rn old-commit-hash: d057299058503e8fb792b5a765d0da4af6bef943 * something like this old-commit-hash: 123d6ed845d662aec2bd95d1ccf9c2782308d693 * pandad.cc should receive same SIGTERM and exit old-commit-hash: afc5ef6b916c54ac2ec471d144f601ead71250cb * stash old-commit-hash: e02e0dc488de51c5d40d227c4c2202ba40436d8d * remove debugging old-commit-hash: ac170d0ca32a4285be22e28ec7730fcba3d0697d * remove debugging old-commit-hash: 50949600aeed231347cc4c600a8a7d24accde674 * match behavior old-commit-hash: 5f24167c58caf98b641af2f63f839015e404c349 * convention old-commit-hash: 1664113a232c4b1a3aa67073e9e8cebef414518f * systemd option old-commit-hash: 95183ff77842fcb9592715db07396be28d778197 * manager option old-commit-hash: 2071893299cb32c3a7cd8a444d8d386c5fa96511 * just curious if this works, change to ELM327 on exit old-commit-hash: 9674ed525134aa03f995942b18163cb047a59c5b * Revert "just curious if this works, change to ELM327 on exit" This reverts commit d4ae294d419dc3d787d11dee4474799f3fb2acef. old-commit-hash: 6d24edd1635ddd0b8ed68a4a4fc8aaaa88984e45 * check onroad same update * useless * comment * fix * debug * Revert "debug" This reverts commit 2bb138610ea7b26d8610d36ef3f0bbb2d6ada388. * Update common/util.h * double wait does not work, blocking in signal handler not good, exit on do_exit, change to SIGINT, use existing stop to support ctrl+c nope * organize? * no sys * None --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2025-01-21 18:32:33 -08:00
Shane Smiskol	475c9ba497	bump msgq (#34445 ) * Reapply "Reapply "bump msgq (#34410)" (#34443)" This reverts commit `cb6eb4f3cf`. * here too * running locally in loop to make sure this was fluke * running locally in loop to make sure this was fluke	2025-01-21 18:25:14 -08:00
Shane Smiskol	4bb578ff1b	Fix duplicate process names (#34446 ) * test * anything actually use this? * keep it around	2025-01-21 17:29:56 -08:00
Shane Smiskol	cb6eb4f3cf	Revert "Reapply "bump msgq (#34410 )" (#34443 )" This reverts commit `45903adaf6`.	2025-01-21 16:48:28 -08:00
Shane Smiskol	45903adaf6	Reapply "bump msgq (#34410 )" (#34443 ) * Reapply "bump msgq (#34410)" This reverts commit `895c78b09a`. * fix exit early	2025-01-21 16:34:27 -08:00
Adeeb Shihadeh	8f8f185a95	sensord: add new config (#34442 ) * sensord: add new config * fix mypy	2025-01-21 16:26:13 -08:00
Dean Lee	2a9e5ed7f8	camerad: add destructor to SpectraBuffer for proper resource cleanup (#34419 ) Add destructor to SpectraBuffer for proper resource cleanup Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-01-21 15:19:48 -08:00
Adeeb Shihadeh	e48752d8fa	camerad: disable ISP for now (#34440 )	2025-01-21 15:10:50 -08:00
Shane Smiskol	9ceb8cc324	swaglog: support np.bool_ (#34439 ) fix np.bool_	2025-01-21 12:52:51 -08:00
Korben	ffa5834225	Update main_fr.ts (#34437 ) French language update. The only constraint encountered was the “Developer” menu, which I had to abbreviate to “Dév.” because its translation ("Développeur") went beyond the interface.	2025-01-21 10:11:58 -08:00
royjr	c96e7ee4fd	ui: update arabic translations (#34433 ) Update main_ar.ts	2025-01-20 10:02:51 -08:00
Joshua Mack	eba4cfbca5	Multilang: update Spanish translation (#34434 ) * Test slightly shorter name * Confirm translations & add Wi-Fi pairing * Revert "Test slightly shorter name" This reverts commit b5aca0939132de45993441c5578323be70d79b89.	2025-01-20 10:02:32 -08:00
Alexandre Nobuharu Sato	f23d7bf995	Multilang: update pt-BR translation (#34427 )	2025-01-19 17:02:42 -08:00
Dean Lee	3219fe1472	encoder: optimize MessageBuilder data handling by adopting encoded data (#34391 ) optimize data handing by adopting external data	2025-01-19 16:22:40 -08:00
Dean Lee	205c2b63aa	modeld: simplify model message construction by removing redundant variables (#34354 ) Simplify model message construction by removing redundant variables	2025-01-19 16:21:02 -08:00
Lee Jong Mun	7b9220e3dd	remove duplicate condition (#34425 )	2025-01-19 16:19:40 -08:00
Alexandre Nobuharu Sato	d4a6f62c40	Move alpha longitudinal control toggle to developer panel (#34223 ) * duplicate alphalong toggle * add description * cleanup * add cases * remove old alpha_long toggle and cleanup * fix some design errors * Revert "fix some design errors" This reverts commit c11b8c41c033f81fd0b2f9a0fb3724a92c8025b9. * Create FUNDING.yml * cleanup * hidde btn in release and no translate * remove new translations * update translation files * rm obsolete translations * if is a release branch or if the car already have long control the alphaLongToggle should not be visible * fix identation --------- Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>	2025-01-19 16:19:18 -08:00
Alexandre Nobuharu Sato	31672520e1	Multilang: update pt-BR translation (#34426 ) update pt-BR translation	2025-01-19 16:16:29 -08:00
Adeeb Shihadeh	bc2fe9d897	how to get in the training set (#34424 ) * how to get in the training set * Update CONTRIBUTING.md * Update CONTRIBUTING.md * Update docs/CONTRIBUTING.md	2025-01-19 15:16:26 -08:00
Dean Lee	31ae8958ee	hardware/tici: simplify use of std::ofstream (#34420 ) Simplify Use of std::ofstream	2025-01-19 14:53:28 -08:00
Dean Lee	ba6afb19ed	ui/cameraview: gate `glDeleteTextures` to PC platforms only (#34423 ) delete textures only when QCOM2 is not defined	2025-01-19 14:11:27 -08:00
Lee Jong Mun	3c3617088b	Multilang: kor translation update (#34422 )	2025-01-19 10:33:11 -08:00
Dean Lee	39a1f040d6	ui/installer: replace time_valid() with util::system_time_valid() for consistency (#34417 ) replace time_valid() with util::system_time_valid() for consistency	2025-01-18 19:59:08 -08:00
				`@@ -0,0 +1 @@`
				`#define DEFAULT_MODEL "Notre Dame (Default)"`