Merge remote-tracking branch 'commaai/openpilot/master' into ioniq-6-hda2-long

fix useParams

.devcontainer/.gitignore

@@ -1 +1,3 @@
-.Xauthority
+.Xauthority
+.env
+.host/

.devcontainer/Dockerfile

@@ -1,6 +1,10 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-# remove gitconfig if exists, since its gonna be replaced by host one
-RUN rm -f /root/.gitconfig
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
 RUN pip install ipython jupyter jupyterlab
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache

.devcontainer/container_post_start.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done

.devcontainer/devcontainer.json

@@ -3,23 +3,36 @@
   "build": {
     "dockerfile": "Dockerfile"
   },
-  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
-  "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"",
-  "initializeCommand": ".devcontainer/setup_host.sh",
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": ".devcontainer/host_setup.sh",
   "privileged": true,
   "containerEnv": {
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
-    "--shm-size=1G"
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux
   ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    }
+  },
+  "containerUser": "root",
+  "remoteUser": "batman",
   "customizations": {
     "vscode": {
       "extensions": [

.devcontainer/host_setup.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE

.devcontainer/setup_host.sh

@@ -1,16 +0,0 @@
-#!/usr/bin/env bash
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-    echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-    if ! [[ -f $HOME/.Xauthority ]]; then
-        echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-        touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-    else
-        ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-    fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi

.gitattributes

@@ -1,3 +1,16 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
+third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
+third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text

.github/labeler.yaml

@@ -0,0 +1,61 @@
+CI / testing:
+  - all:
+    - changed-files: ['.github/**']
+  - all:
+    - changed-files: ['**/test_*']
+
+car: 
+  - all:
+    - changed-files: ['selfdrive/car/**']
+
+body:
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
+chrysler:
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
+ford: 
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
+gm: 
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
+honda: 
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
+hyundai: 
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
+mazda: 
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
+nissan: 
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
+subaru: 
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
+tesla: 
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
+toyota: 
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
+volkswagen: 
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']
+
+simulation:
+  - all:
+    - changed-files: ['tools/sim/**']
+ui:
+  - all:
+    - changed-files: ['selfdrive/ui/**']
+tools: 
+  - all:
+    - changed-files: ['tools/**']
+
+multilanguage:
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']
+

.github/workflows/compile-openpilot/action.yaml

@@ -0,0 +1,27 @@
+name: 'compile openpilot'
+
+inputs:
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/labeler.yaml

@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - uses: actions/labeler@v5.0.0-alpha.1
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml

.github/workflows/release.yaml

@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 * * * *'
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 jobs:

.github/workflows/selfdrive_tests.yaml

@@ -38,6 +38,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
@@ -65,32 +66,28 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
 
-  build_all:
-    name: build all
-    runs-on: ubuntu-20.04
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') || 
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot with all flags
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Cleanup scons cache and rebuild
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
       with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+        cache_key_prefix: scons_${{ matrix.arch }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      with:
+        cache_key_prefix: scons_${{ matrix.arch }}
 
   build_mac:
     name: build macos
@@ -99,6 +96,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Determine pre-existing Homebrew packages
       if: steps.dependency-cache.outputs.cache-hit != 'true'
       run: |
@@ -144,7 +142,7 @@ jobs:
         fi
     - name: Install dependencies
       if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
+      run: SKIP_PROMPT=1 ./tools/mac_setup.sh
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
@@ -186,7 +184,10 @@ jobs:
 
   docker_push:
     name: docker push
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v3
@@ -195,14 +196,34 @@ jobs:
     - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
-        git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build and push CL Docker image
+      if: matrix.arch == 'x86_64'
       run: |
+        unset TARGET_ARCHITECTURE
         eval "$BUILD_CL"
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
@@ -210,8 +231,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
@@ -246,21 +266,12 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST -n auto --dist=loadscope --timeout 30 && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./system/ubloxd/tests/test_glonass_runner && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
-                        ./common/tests/test_common && \
-                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./system/loggerd/tests/test_logger &&\
-                        ./system/proclogd/tests/test_proclog && \
-                        ./tools/replay/tests/test_replay && \
-                        ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
                         ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
@@ -268,12 +279,16 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -293,7 +308,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: always()
       continue-on-error: true
       with:
@@ -324,7 +339,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
@@ -378,6 +393,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
+      - run: git lfs pull
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
@@ -387,6 +403,7 @@ jobs:
         with:
           submodules: true
           path: current
+      - run: cd current && git lfs pull
       - name: Save car docs diff
         id: save_diff
         run: |

.github/workflows/setup-with-retry/action.yaml

@@ -1,13 +1,18 @@
 name: 'openpilot env setup, with retry on failure'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: false
-    default: 'true'
-
-env:
-  SLEEP_TIME: 30 # Time to sleep between retries
+    default: ''
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
 
 runs:
   using: "composite"
@@ -16,24 +21,27 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
     - id: setup2
       if: steps.setup1.outcome == 'failure'
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
     - id: setup3
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
-        git_lfs: ${{ inputs.git_lfs }}
-        is_retried: true
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true

.github/workflows/setup/action.yaml

@@ -1,10 +1,14 @@
 name: 'openpilot env setup'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
-    required: false
-    default: 'true'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: true
+    default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -22,9 +26,21 @@ runs:
 
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
-      if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash
@@ -35,10 +51,10 @@ runs:
       uses: actions/cache/restore@v3
       with:
         path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ env.CACHE_COMMIT_DATE }}-
-          scons-
+          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
+          ${{ inputs.cache_key_prefix }}-
     # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
     - id: scons-cache-setup
       shell: bash

.github/workflows/tools_tests.yaml

@@ -72,8 +72,6 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        git_lfs: false
     - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
@@ -90,11 +88,20 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
       run: devcontainer build --workspace-folder .
     - name: Run dev container
-      run: devcontainer up --workspace-folder .
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
     - name: Test environment
-      run: devcontainer exec --workspace-folder . scons --dry-run
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . pip install pip-install-test

.gitignore

@@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad

.pre-commit-config.yaml

@@ -10,6 +10,7 @@ repos:
     -   id: check-ast
         exclude: '^(third_party)/'
     -   id: check-json
+        exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments
     -   id: check-toml
     -   id: check-xml
     -   id: check-yaml
@@ -18,7 +19,9 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        args: ['--maxkb=100']
+        args:
+        - --maxkb=500
+        - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
     rev: v2.2.5
     hooks:
@@ -38,7 +41,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.287
+    rev: v0.0.290
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -79,10 +82,9 @@ repos:
     rev: '1.6.0'
     hooks:
     -   id: poetry-check
-    -   id: poetry-lock
         name: validate poetry lock
         args:
-        - --check
+        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
     rev: 0.26.3
     hooks:

Dockerfile.openpilot_base

@@ -22,18 +22,24 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+USER $USER
+
 ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/root/.pyenv"
+ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version /tmp/
-COPY tools/install_python_dependencies.sh /tmp/tools/
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /root/.cache && \
+    rm -rf /home/$USER/.cache && \
     pip uninstall -y poetry
 
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,4 +1,4 @@
-def phone(String ip, String step_label, String cmd) {
+def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
@@ -51,226 +51,186 @@ END"""
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 20, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
+def deviceStage(String stageName, String deviceType, List env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    def extra = env.collect { "export ${it}" }.join('\n');
+
+    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+        timeout(time: 20, unit: 'MINUTES') {
+          device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
       }
     }
   }
 }
 
-pipeline {
-  agent none
-  environment {
-    CI = "1"
-    PYTHONWARNINGS = "error"
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-    AZURE_TOKEN = credentials('azure_token')
-    MAPBOX_TOKEN = credentials('mapbox_token')
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    checkout scm
+
+    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+      timeout(time: 20, unit: 'MINUTES') {
+        try {
+          sh "git config --global --add safe.directory '*'"
+          sh "git submodule update --init --recursive"
+          sh "git lfs pull"
+          body()
+        } finally {
+          sh "rm -rf ${env.WORKSPACE}/* || true"
+          sh "rm -rf .* || true"
+        }
+      }
+    }
   }
-  options {
-    timeout(time: 3, unit: 'HOURS')
-    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
-  }
-
-  stages {
-    stage('build release3-staging') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
-
-    stage('build nightly') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'master-ci'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
-
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
-        }
-      }
-
-      parallel {
-
-        /*
-        stage('simulator') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.sim_nvidia'
-              dir 'tools/sim'
-              args '--user=root'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
-              sh "${WORKSPACE}/tools/sim/build_container.sh"
-              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
-              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
-            }
-          }
-
-          post {
-            always {
-              sh "docker kill carla_sim || true"
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-        */
-
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilot_base'
-              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --depth=1 --recursive"
-            sh "git lfs pull"
-            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
-            sh "scons --clean && scons --no-cache --random -j42"
-            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
-          }
-
-          post {
-            always {
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-
-        stage('tizi-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tizi", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
-            ])
-          }
-        }
-
-        stage('build') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          environment {
-            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-          }
-          steps {
-            phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["check dirty", "release/check-dirty.sh"],
-              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-            ])
-          }
-        }
-
-        stage('loopback-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-loopback", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ])
-          }
-        }
-
-        stage('HW + Unit Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-common", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-              ["test nav", "pytest selfdrive/navd/tests/"],
-            ])
-          }
-        }
-
-        stage('camerad') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-ar0231", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-            phone_steps("tici-ox03c10", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-          }
-        }
-
-        stage('sensord') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-lsmc", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-            phone_steps("tici-bmx-lsm", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-          }
-        }
-
-        stage('replay') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-replay", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-            ])
-          }
-        }
-
-      }
-    }
-
   }
 }
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+          ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test nav", "pytest selfdrive/navd/tests/"],
+        ])
+      },
+      'loopback': {
+        deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+        ])
+      },
+
+      // *** PC tests ***
+      'PC tests': {
+        pcStage("PC tests") {
+          // tests that our build system's dependencies are configured properly,
+          // needs a machine with lots of cores
+          sh label: "test multi-threaded build", script: "scons --no-cache --random -j42"
+        }
+      },
+      'car tests': {
+        pcStage("car tests") {
+          sh "scons -j30"
+          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+              pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
+        }
+      },
+
+    )
+    }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
+  }
+}

README.md

@@ -39,13 +39,17 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
-* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
+1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
+  
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
+  To install the release version of openpilot, use the URL `openpilot.comma.ai`.
+  To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
 
-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
+  If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
+  
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+  We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
 
 Running on PC
 ------

RELEASES.md

@@ -1,7 +1,17 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.6 (2023-XX-XX)
 ========================
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Kia Optima Hybrid 2019 support
+
+Version 0.9.5 (2023-09-27)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 

SConstruct

@@ -244,18 +244,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-# TODO: this can probably be removed
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@@ -337,34 +325,35 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
+Export('env', 'qt_env', 'arch', 'real_arch')
 
+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# cereal and messaging are shared with the system
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
 messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
 Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
-# Build rednose library and ekf models
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
+# Build rednose library and ekf models
 rednose_deps = [
   "#selfdrive/locationd/models/constants.py",
   "#selfdrive/locationd/models/gnss_helpers.py",
@@ -406,15 +395,6 @@ if arch != "Darwin":
   ])
 
 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])

common/SConscript

@@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
+Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',
@@ -18,13 +13,13 @@ common_libs = [
 if arch != "Darwin":
   common_libs.append('gpio.cc')
 
-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
 ]
 
-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')
 
 if GetOption('extras'):

common/params.cc

@@ -64,7 +64,9 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
 std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
   if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
+    throw std::runtime_error(util::string_format(
+        "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
+        errno, params_path.c_str(), prefix.c_str()));
   }
   return params_path;
 }

common/params_pyx.pyx

@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil

common/prefix.py

@@ -39,3 +39,5 @@ class OpenpilotPrefix:
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
     shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/tests/test_util.cc

@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
     std::string content = random_bytes(64 * 1024);
     write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
-    REQUIRE(ret == content);
+    bool equal = (ret == content);
+    REQUIRE(equal);
     close(fd);
   }
   SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
   REQUIRE(ret == 0);
   ret = fclose(f);
   REQUIRE(ret == 0);
-  REQUIRE(dat == util::read_file(filename));
+  bool equal = (dat == util::read_file(filename));
+  REQUIRE(equal);
 }
 
 TEST_CASE("util::create_directories") {

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.5"
+#define COMMA_VERSION "0.9.6"

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 260 Supported Cars
+# 265 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2019-23|All|openpilot|25 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 power v2<br>- 1 comma three<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=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 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 power v2<br>- 1 comma three<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=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 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 power v2<br>- 1 comma three<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=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Custin 2023|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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@@ -88,8 +91,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|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 G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|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 O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|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 O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</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 R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -97,7 +100,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Santa Fe 2019-20|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 D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2021-23|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in 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 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2018-19|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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
@@ -109,7 +112,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 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 power v2<br>- 1 comma three<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 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |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 power v2<br>- 1 comma three<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 2023[<sup>6</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 power v2<br>- 1 comma three<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 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2023-24[<sup>6</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 power v2<br>- 1 comma three<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 2023-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>6</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 power v2<br>- 1 comma three<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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</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 power v2<br>- 1 comma three<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) 2022-23">Buy Here</a></sub></details>||
@@ -118,7 +121,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=K5 2021-22">Buy Here</a></sub></details>||
-|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</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 power v2<br>- 1 comma three<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=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|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 power v2<br>- 1 comma three<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=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -130,6 +134,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|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 G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Optima Hybrid 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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|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 power v2<br>- 1 comma three<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=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 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 power v2<br>- 1 comma three<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=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -147,7 +152,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</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 power v2<br>- 1 comma three<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=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2019-23|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 power v2<br>- 1 comma three<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=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|IS 2017-19|All|Stock|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 power v2<br>- 1 comma three<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=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|IS 2023|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 power v2<br>- 1 comma three<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=Lexus&model=IS 2023">Buy Here</a></sub></details>||
+|Lexus|IS 2022-23|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 power v2<br>- 1 comma three<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=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 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 power v2<br>- 1 comma three<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=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX 2020-21|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 power v2<br>- 1 comma three<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=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 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 power v2<br>- 1 comma three<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=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||

pyproject.toml

@@ -1,10 +1,11 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
+#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
-  "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
+  "slow: tests that take awhile to run and can be skipped with -m 'not slow'"
 ]
 testpaths = [
   "common",
@@ -18,9 +19,12 @@ testpaths = [
   "selfdrive/test/longitudinal_maneuvers",
   "system/hardware/tici",
   "system/loggerd",
+  "system/proclogd",
   "system/tests",
   "system/ubloxd",
-  "tools/lib/tests"
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
 ]
 
 [tool.mypy]
@@ -123,12 +127,12 @@ carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
-hypothesis = "==6.46.7"
+hypothesis = "~6.47"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -142,10 +146,12 @@ pygame = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
+pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+ruff = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
@@ -167,7 +173,7 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@@ -180,3 +186,9 @@ exclude = [
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"

selfdrive/athena/athenad.py

@@ -29,7 +29,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.basedir import PERSIST
 from openpilot.common.file_helpers import CallbackReader
@@ -40,7 +40,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
-from selfdrive.hardware.hw import Paths
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -309,7 +309,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
 # security: user should be able to request any message from their car
 @dispatcher.add_method
 def getMessage(service: str, timeout: int = 1000) -> dict:
-  if service is None or service not in service_list:
+  if service is None or service not in SERVICE_LIST:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)

selfdrive/athena/tests/test_athenad.py

@@ -21,7 +21,7 @@ from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
-from selfdrive.hardware.hw import Paths
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):

selfdrive/boardd/boardd.cc

@@ -472,12 +472,15 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
   LOGD("start panda state thread");
 
-  // run at 2hz
-  RateKeeper rk("panda_state_thread", 2);
+  // run at 10hz
+  RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    // send out peripheralState at 2Hz
+    if (sm.frame % 5 == 0) {
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {

selfdrive/boardd/pandad.py

@@ -34,10 +34,12 @@ def read_panda_logs(panda: Panda) -> None:
 
   log_state = {}
   try:
-    l = json.loads(params.get("PandaLogState"))
-    for k, v in l.items():
-      if isinstance(k, str) and isinstance(v, int):
-        log_state[k] = v
+    ls = params.get("PandaLogState")
+    if ls is not None:
+      l = json.loads(ls)
+      for k, v in l.items():
+        if isinstance(k, str) and isinstance(v, int):
+          log_state[k] = v
   except (TypeError, json.JSONDecodeError):
     cloudlog.exception("failed to parse PandaLogState")
 

selfdrive/car/gm/carstate.py

@@ -98,7 +98,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -135,7 +135,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("VehicleIgnitionAlt", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),

selfdrive/car/honda/values.py

@@ -1358,6 +1358,7 @@ FW_VERSIONS = {
       b'78109-T6Z-A910\x00\x00',
       b'78109-T6Z-AA10\x00\x00',
       b'78109-T6Z-C620\x00\x00',
+      b'78109-T6Z-C910\x00\x00',
       b'78109-TJZ-A510\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [

selfdrive/car/hyundai/carstate.py

@@ -105,10 +105,12 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
     else:
       ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
       ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
@@ -130,12 +132,12 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
 
@@ -226,6 +228,13 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
+    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
+    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
+    # The car will brake, but does not respect positive acceleration commands in this mode
+    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
+    if self.CP.carFingerprint in EV_CAR:
+      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -276,12 +285,12 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      messages.append(("ELECT_GEAR", 20))
+    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       pass
     elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       messages.append(("TCU12", 100))
-    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      messages.append(("ELECT_GEAR", 20))
     else:
       messages.append(("LVR12", 100))
 
@@ -320,6 +329,11 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if CP.carFingerprint in EV_CAR:
+      messages += [
+        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
+      ]
+
     if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
       messages += [
         ("CRUISE_BUTTONS", 50)

selfdrive/car/hyundai/hyundaican.py

@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                         CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -27,7 +27,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    # FIXME: the Optima Hybrid uses a different SCC12 checksum
+    # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
@@ -64,7 +64,11 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
+      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
+      ret.wheelbase = 2.885
+      ret.steerRatio = 14.5
+    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.mass = 3982. * CV.LB_TO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
@@ -137,6 +141,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.000
       # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
       ret.steerRatio = 14.2
+    elif candidate == CAR.CUSTIN_1ST_GEN:
+      ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
+      ret.wheelbase = 3.055
+      ret.steerRatio = 17.0  # from learner
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -158,7 +166,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1700.  # weight from SX and above trims, average of FWD and AWD versions
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6  # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
+    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
@@ -211,6 +219,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2087.
       ret.wheelbase = 3.09
       ret.steerRatio = 14.23
+    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
+      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
+      ret.wheelbase = 2.895
+      ret.steerRatio = 13.27  # guesstimate from K5 platform
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
@@ -265,7 +277,7 @@ class CarInterface(CarInterfaceBase):
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
-      ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
+      ret.enableBsm = False  # 0x1e5 in fingerprint[CAN.ECAN]
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
+from hypothesis import settings, given, strategies as st
 import unittest
 
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
+                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
+                                         get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
@@ -36,7 +38,11 @@ NO_DATES_PLATFORMS = {
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
-  def test_canfd_not_in_can_features(self):
+  def test_can_features(self):
+    # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
+    self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
+
+    # Test CAN FD car not in CAN feature lists
     can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
     for car_model in CANFD_CAR:
       self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
@@ -66,12 +72,34 @@ class TestHyundaiFingerprint(unittest.TestCase):
           part = code.split(b"-")[1]
           self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
 
+  def test_correct_ecu_response_database(self):
+    """
+    Assert standard responses for certain ECUs, since they can
+    respond to multiple queries with different data
+    """
+    expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for ecu, fws in ecus.items():
+          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
+          if ecu[0] in (Ecu.fwdCamera,):
+            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                            f"FW from unexpected request in database: {(ecu, fws)}")
+
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    """Ensure function doesn't raise an exception"""
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():

selfdrive/car/hyundai/values.py

@@ -39,7 +39,7 @@ class CarControllerParams:
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
+                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
     # these cars have significantly more torque than most HKG; limit to 70% of max
@@ -69,6 +69,8 @@ class HyundaiFlags(IntFlag):
 
 class CAR:
   # Hyundai
+  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
+  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
@@ -99,11 +101,13 @@ class CAR:
   TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
   SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
+  CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
+  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -112,6 +116,7 @@ class CAR:
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
   KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
+  KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -139,7 +144,7 @@ class Footnote(Enum):
   CANFD = CarFootnote(
     "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
     "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
-    Column.MODEL, shop_footnote=True)
+    Column.MODEL, shop_footnote=False)
 
 
 @dataclass
@@ -152,6 +157,8 @@ class HyundaiCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.ELANTRA: [
     HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -173,17 +180,19 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
-  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])),
+                               car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  # TODO: this is the 2024 US MY, not yet released
+  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                                      car_parts=CarParts.common([CarHarness.hyundai_r])),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
+                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
+                             car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -209,6 +218,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
 
   # Kia
   CAR.KIA_FORTE: [
@@ -216,7 +226,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -233,17 +244,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KIA_OPTIMA_H: [
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
-    HyundaiCarInfo("Kia Optima Hybrid 2019"),
-  ],
+  # TODO: may support adjacent years. may have a non-zero minimum steering speed
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),
+  CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
     HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                    car_parts=CarParts.common([CarHarness.hyundai_c])),
+                   car_parts=CarParts.common([CarHarness.hyundai_c])),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -260,7 +270,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -459,6 +469,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # TODO: use abs, it has the platform code and part number on many platforms
 PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # So far we've only seen dates in fwdCamera
+# TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -522,6 +533,40 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AZERA_HEV_6TH_GEN: {
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -919,6 +964,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
+      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -932,12 +978,15 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x87           \xf1\x81           ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
@@ -991,20 +1040,45 @@ FW_VERSIONS = {
   CAR.SANTA_FE_PHEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391312MTF0',
+      b'\xf1\x87391312MTF1',
+    ],
+  },
+  CAR.CUSTIN_1ST_GEN: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391212MEC0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
     ],
   },
   CAR.KIA_STINGER: {
@@ -1332,16 +1406,19 @@ FW_VERSIONS = {
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
       b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
+      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
     (Ecu.abs, 0x7D1, None): [
       b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
@@ -1349,11 +1426,13 @@ FW_VERSIONS = {
       b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
       b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
       b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
+      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391212MKT0',
       b'\xf1\x87391212MKV0',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
+      b'\xf1\x81HM6M2_0a0_DQ0',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
@@ -1362,6 +1441,7 @@ FW_VERSIONS = {
       b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
       b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
     ],
   },
   CAR.KIA_K5_HEV_2020: {
@@ -1370,15 +1450,18 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391162JLA0',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
     ],
   },
   CAR.KONA_EV: {
@@ -1414,6 +1497,7 @@ FW_VERSIONS = {
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1421,12 +1505,14 @@ FW_VERSIONS = {
       b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
@@ -1596,6 +1682,17 @@ FW_VERSIONS = {
       b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
     ],
   },
+  CAR.KIA_OPTIMA_H_G4_FL: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ELANTRA: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
@@ -1808,6 +1905,7 @@ FW_VERSIONS = {
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
@@ -1858,6 +1956,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
@@ -1920,10 +2019,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
     ],
   },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
@@ -1935,32 +2036,37 @@ FW_VERSIONS = {
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
     ],
   },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
+    ],
+  },
 }
 
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
-           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
+           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
+           CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
 CAN_GEARS = {
-  # which message has the gear
+  # which message has the gear. hybrid and EV use ELECT_GEAR
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
-                      CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
-                      CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
-                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
-                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6}
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1969,22 +2075,26 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
+              CAR.AZERA_HEV_6TH_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
                           CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                           CAR.KIA_OPTIMA_H}
 
 # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
-UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL}
+UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
+                                                         CAR.KIA_OPTIMA_H_G4_FL}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
+  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
+  CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@@ -2008,6 +2118,7 @@ DBC = {
   CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
@@ -2045,4 +2156,6 @@ DBC = {
   CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
 }

selfdrive/car/mock/interface.py

@@ -1,61 +1,35 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-
-# mocked car interface to work with chffrplus
+# mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    cloudlog.debug("Using Mock Car Interface")
-
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
     self.speed = 0.
-    self.prev_speed = 0.
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
-    ret.steerRatio = 13.  # reasonable
-
+    ret.steerRatio = 13.
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-    if self.sm.updated[gps_sock]:
-      self.prev_speed = self.speed
-      self.speed = self.sm[gps_sock].speed
 
-    # create message
     ret = car.CarState.new_message()
-
-    # speeds
-    ret.vEgo = self.speed
-    ret.vEgoRaw = self.speed
-
-    ret.aEgo = self.speed - self.prev_speed
-    ret.brakePressed = ret.aEgo < -0.5
-
-    ret.standstill = self.speed < 0.01
-    ret.wheelSpeeds.fl = self.speed
-    ret.wheelSpeeds.fr = self.speed
-    ret.wheelSpeeds.rl = self.speed
-    ret.wheelSpeeds.rr = self.speed
+    ret.vEgo = self.sm[gps_sock].speed
+    ret.vEgoRaw = self.sm[gps_sock].speed
 
     return ret
 
   def apply(self, c, now_nanos):
-    # in mock no carcontrols
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []

selfdrive/car/mock/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/tests/routes.py

@@ -94,11 +94,14 @@ routes = [
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
+  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN),
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
   CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
+  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN),
   CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
   CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
   CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
@@ -110,6 +113,7 @@ routes = [
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
   CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
+  CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
   CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
@@ -134,6 +138,7 @@ routes = [
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
   CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
@@ -145,6 +150,7 @@ routes = [
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
+  CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),

selfdrive/car/tests/test_can_fingerprint.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
 
 class TestCanFingerprint(unittest.TestCase):
-  @parameterized.expand([(c, f) for c, f in FINGERPRINTS.items()])
+  @parameterized.expand(list(FINGERPRINTS.items()))
   def test_can_fingerprint(self, car_model, fingerprints):
     """Tests online fingerprinting function on offline fingerprints"""
 

selfdrive/car/tests/test_car_interfaces.py

@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
         self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
-      elif tune.which() == 'indi':
-        self.assertTrue(len(tune.indi.outerLoopGainV))
-
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
     now_nanos = 0

selfdrive/car/tests/test_models.py

@@ -2,6 +2,7 @@
 import capnp
 import os
 import importlib
+import pytest
 import unittest
 from collections import defaultdict, Counter
 from typing import List, Optional, Tuple
@@ -9,6 +10,7 @@ from parameterized import parameterized_class
 
 from cereal import log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
@@ -16,13 +18,14 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
-from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
+EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
@@ -64,7 +67,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
   return test_cases
 
 
-
+@pytest.mark.slow
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
   test_route: Optional[CarTestRoute] = None
@@ -73,7 +76,6 @@ class TestCarModelBase(unittest.TestCase):
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
   elm_frame: Optional[int]
 
-  @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
@@ -163,9 +165,11 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -187,8 +191,6 @@ class TestCarModelBase(unittest.TestCase):
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
-      elif tuning == 'indi':
-        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
       else:
         raise Exception("unknown tuning")
 
@@ -317,6 +319,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
+    controlsd = Controls(CI=self.CI)
+    controlsd.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -361,7 +365,10 @@ 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
-        button_enable = any(evt.enable for evt in CS.events)
+        controlsd.update_events(CS)
+        controlsd.CS_prev = CS
+        button_enable = (any(evt.enable for evt in CS.events) and
+                         not any(evt == EventName.pedalPressed for evt in controlsd.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()

selfdrive/car/torque_data/override.yaml

@@ -59,6 +59,10 @@ LEXUS IS 2023: [2.0, 2.0, 0.1]
 KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
+HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
+HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
+KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
+HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/torque_data/substitute.yaml

@@ -22,6 +22,7 @@ TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
 KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020
 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
 KIA SELTOS 2021: HYUNDAI SONATA 2020

selfdrive/car/toyota/tests/print_platform_codes.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+from collections import defaultdict
+from cereal import car
+from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  parts_for_ecu: dict = defaultdict(set)
+  cars_for_code: dict = defaultdict(lambda: defaultdict(set))
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1}
+      for code in platform_codes:
+        cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {platform_codes}')
+
+  print('\nECU parts:')
+  for ecu, parts in parts_for_ecu.items():
+    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
+
+  print('\nCar models vs. platform codes (no major versions):')
+  for ecu, codes in cars_for_code.items():
+    print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    for code, cars in codes.items():
+      print(f'    {code!r}: {sorted(cars)}')

selfdrive/car/toyota/tests/test_toyota.py

@@ -1,10 +1,13 @@
 #!/usr/bin/env python3
-from cereal import car
+from hypothesis import given, settings, strategies as st
 import unittest
 
-from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
+from cereal import car
+from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
+                                                  PLATFORM_CODE_ECUS, get_platform_codes
 
 Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 class TestToyotaInterfaces(unittest.TestCase):
@@ -39,5 +42,84 @@ class TestToyotaInterfaces(unittest.TestCase):
           self.assertIn(Ecu.eps, present_ecus)
 
 
+class TestToyotaFingerprint(unittest.TestCase):
+  # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
+  # fingerprint in the absence of full FW matches:
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
+  def test_platform_code_ecus_available(self):
+    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for platform_code_ecu in PLATFORM_CODE_ECUS:
+          if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
+            continue
+          if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,):
+            continue
+          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+
+  def test_fw_format(self):
+    # Asserts:
+    # - every supported ECU FW version returns one platform code
+    # - every supported ECU FW version has a part number
+    # - expected parsing of ECU sub-versions
+
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          codes = dict()
+          for fw in fws:
+            result = get_platform_codes([fw])
+            # Check only one platform code and sub-version
+            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}")
+            codes |= result
+
+          # Toyota places the ECU part number in their FW versions, assert all parsable
+          # Note that there is only one unique part number per ECU across the fleet, so this
+          # is not important for identification, just a sanity check.
+          self.assertTrue(all(code.count(b"-") > 1 for code in codes),
+                          f"FW does not have part number: {fw} {codes}")
+
+  def test_platform_codes_spot_check(self):
+    # Asserts basic platform code parsing behavior for a few cases
+    results = get_platform_codes([
+      b"F152607140\x00\x00\x00\x00\x00\x00",
+      b"F152607171\x00\x00\x00\x00\x00\x00",
+      b"F152607110\x00\x00\x00\x00\x00\x00",
+      b"F152607180\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}})
+
+    results = get_platform_codes([
+      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
+      b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"8646F-41-04": {b"100"}})
+
+    # Short version has no part number
+    results = get_platform_codes([
+      b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
+      b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}})
+
+    results = get_platform_codes([
+      b"F152607110\x00\x00\x00\x00\x00\x00",
+      b"F152607140\x00\x00\x00\x00\x00\x00",
+      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
+      b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}})
+
+
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/toyota/values.py

@@ -1,7 +1,8 @@
+import re
 from collections import defaultdict
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
-from typing import Dict, List, Union
+from typing import Dict, List, Set, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -185,7 +186,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
   CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
-  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"),
+  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
@@ -234,6 +235,79 @@ STATIC_DSU_MSGS = [
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
+
+def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
+  # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
+  codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_version
+  for fw in fw_versions:
+    # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
+    #  and are prefixed with a byte that describes how many chunks of data there are.
+    # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
+
+    length_code = 1
+    length_code_match = FW_LEN_CODE.search(fw)
+    if length_code_match is not None:
+      length_code = length_code_match.group()[0]
+      fw = fw[1:]
+
+    # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
+    if length_code * FW_CHUNK_LEN != len(fw):
+      continue
+
+    chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)]
+
+    # only first is considered for now since second is commonly shared (TODO: understand that)
+    first_chunk = chunks[0]
+    if len(first_chunk) == 8:
+      # TODO: no part number, but some short chunks have it in subsequent chunks
+      fw_match = SHORT_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        platform, major_version, sub_version = fw_match.groups()
+        codes[b'-'.join((platform, major_version))].add(sub_version)
+
+    elif len(first_chunk) == 10:
+      fw_match = MEDIUM_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        part, platform, major_version, sub_version = fw_match.groups()
+        codes[b'-'.join((part, platform, major_version))].add(sub_version)
+
+    elif len(first_chunk) == 12:
+      fw_match = LONG_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        part, platform, major_version, sub_version = fw_match.groups()
+        codes[b'-'.join((part, platform, major_version))].add(sub_version)
+
+  return dict(codes)
+
+
+# Regex patterns for parsing more general platform-specific identifiers from FW versions.
+# - Part number: Toyota part number (usually last character needs to be ignored to find a match).
+#    Each ECU address has just one part number.
+# - Platform: usually multiple codes per an openpilot platform, however this is the least variable and
+#    is usually shared across ECUs and model years signifying this describes something about the specific platform.
+#    This describes more generational changes (TSS-P vs TSS2), or manufacture region.
+# - Major version: second least variable part of the FW version. Seen splitting cars by model year/API such as
+#    RAV4 2022/2023 and Avalon. Used to differentiate cars where API has changed slightly, but is not a generational change.
+#    It is important to note that these aren't always consecutive, for example:
+#    Avalon 2016-18's fwdCamera has these major versions: 01, 03 while 2019 has: 02
+# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering.
+#    Seen bumped in TSB FW updates, and describes other minor differences.
+SHORT_FW_PATTERN = re.compile(b'[A-Z0-9](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})')
+LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+FW_LEN_CODE = re.compile(b'^[\x01-\x03]')  # highest seen is 3 chunks, 16 bytes each
+FW_CHUNK_LEN = 16
+
+# List of ECUs that are most unique across openpilot platforms
+# TODO: use hybrid ECU, splits similar ICE and hybrid variants
+# - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
+#    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
+#    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
+# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception)
+# - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
+PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps]
+
+
 # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
 # Toyota diagnostic software first gets the supported data ids, then queries them one by one.
 # For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
@@ -1260,17 +1334,21 @@ FW_VERSIONS = {
   CAR.LEXUS_IS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x018966353S1000\x00\x00\x00\x00',
+      b'\x018966353S2000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15265337200\x00\x00\x00\x00',
       b'\x01F15265342000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B53450\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -1906,6 +1984,7 @@ FW_VERSIONS = {
       b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
       b'\x018966378B2000\x00\x00\x00\x00',
+      b'\x018966378B3100\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',

selfdrive/car/volkswagen/values.py

@@ -396,6 +396,7 @@ FW_VERSIONS = {
   },
   CAR.CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
       b'\xf1\x8705L906023BC\xf1\x892688',
     ],
@@ -403,15 +404,18 @@ FW_VERSIONS = {
     #(Ecu.transmission, 0x7e1, None): [
     #],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
       b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
       b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
       b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
       b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572J \xf1\x890156',
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
@@ -461,6 +465,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906259K \xf1\x890003',
       b'\xf1\x878V0906259P \xf1\x890001',
       b'\xf1\x878V0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259R \xf1\x890002',
       b'\xf1\x878V0906264F \xf1\x890003',
       b'\xf1\x878V0906264L \xf1\x890002',
       b'\xf1\x878V0906264M \xf1\x890001',
@@ -502,6 +507,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300012A \xf1\x891401',
       b'\xf1\x870GC300012A \xf1\x891403',
       b'\xf1\x870GC300014B \xf1\x892401',
+      b'\xf1\x870GC300014B \xf1\x892403',
       b'\xf1\x870GC300014B \xf1\x892405',
       b'\xf1\x870GC300020G \xf1\x892401',
       b'\xf1\x870GC300020G \xf1\x892403',
@@ -521,6 +527,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
       b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
       b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
@@ -547,6 +554,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
       b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
@@ -814,11 +822,13 @@ FW_VERSIONS = {
       b'\xf1\x875NA906259H \xf1\x890002',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA907115J \xf1\x890002',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115F \xf1\x890002',
       b'\xf1\x8783A907115G \xf1\x890001',
       b'\xf1\x8783A907115K \xf1\x890001',
       b'\xf1\x8704E906024AP\xf1\x891461',
+      b'\xf1\x8783A907115  \xf1\x890007',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DT\xf1\x893698',
@@ -836,12 +846,14 @@ FW_VERSIONS = {
       b'\xf1\x870DL300013G \xf1\x892120',
       b'\xf1\x870DL300014C \xf1\x893703',
       b'\xf1\x870DD300046K \xf1\x892302',
+      b'\xf1\x870GC300013P \xf1\x892401',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
@@ -849,6 +861,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
       b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
@@ -863,6 +876,7 @@ FW_VERSIONS = {
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
       b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
@@ -1320,9 +1334,12 @@ FW_VERSIONS = {
   },
   CAR.SKODA_SUPERB_MK3: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027BS\xf1\x892887',
       b'\xf1\x8704E906027BT\xf1\x899042',
       b'\xf1\x8704L906026ET\xf1\x891343',
+      b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x891196',
+      b'\xf1\x8704L906026KA\xf1\x896014',
       b'\xf1\x8704L906026KB\xf1\x894071',
       b'\xf1\x8704L906026KD\xf1\x894798',
       b'\xf1\x8704L906026MT\xf1\x893076',
@@ -1333,13 +1350,16 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300043B \xf1\x891603',
       b'\xf1\x870CW300049Q \xf1\x890906',
       b'\xf1\x870D9300011T \xf1\x894801',
       b'\xf1\x870D9300012  \xf1\x894940',
       b'\xf1\x870D9300013A \xf1\x894905',
       b'\xf1\x870D9300014K \xf1\x895006',
       b'\xf1\x870D9300041H \xf1\x894905',
+      b'\xf1\x870D9300042M \xf1\x895013',
       b'\xf1\x870D9300043F \xf1\x895202',
+      b'\xf1\x870GC300013K \xf1\x892403',
       b'\xf1\x870GC300014M \xf1\x892801',
       b'\xf1\x870GC300019G \xf1\x892803',
       b'\xf1\x870GC300043  \xf1\x892301',
@@ -1349,9 +1369,11 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
       b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
       b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
+      b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
     ],
@@ -1360,8 +1382,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
     ],

selfdrive/controls/controlsd.py

@@ -36,7 +36,6 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -69,6 +68,7 @@ class Controls:
       self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
                                      'carControl', 'carEvents', 'carParams'])
 
+    self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
     self.can_sock = can_sock
@@ -81,12 +81,13 @@ class Controls:
     self.params = Params()
     self.sm = sm
     if self.sm is None:
-      ignore = ['testJoystick']
+      ignore = self.sensor_packets + ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
+                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                     'testJoystick'] + self.camera_packets + self.sensor_packets,
                                     ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
@@ -374,19 +375,20 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
-        self.events.add(EventName.sensorDataInvalid)
-    if not self.sm['liveLocationKalman'].inputsOK and not NOSENSOR:
-      self.events.add(EventName.localizerMalfunction)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
+    if not self.sm['liveLocationKalman'].inputsOK:
+      self.events.add(EventName.locationdTemporaryError)
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      self.events.add(EventName.paramsdTemporaryError)
+
+    # conservative HW alert. if the data or frequency are off, locationd will throw an error
+    if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+      self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
@@ -415,10 +417,9 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if not NOSENSOR:
-        if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-          # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-          self.events.add(EventName.noGps)
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
+        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+        self.events.add(EventName.noGps)
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -629,8 +630,8 @@ class Controls:
 
         if CC.latActive:
           steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
-          # max angle is 45 for angle-based cars
-          actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
+          # max angle is 45 for angle-based cars, max curvature is 0.02
+          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
 
         lac_log.active = self.active
         lac_log.steeringAngleDeg = CS.steeringAngleDeg
@@ -807,8 +808,6 @@ class Controls:
       controlsState.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
       controlsState.lateralControlState.torqueState = lac_log
-    elif lat_tuning == 'indi':
-      controlsState.lateralControlState.indiState = lac_log
 
     self.pm.send('controlsState', dat)
 

selfdrive/controls/lib/events.py

@@ -424,19 +424,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # ********** events only containing alerts that display while engaged **********
 
-  # openpilot tries to learn certain parameters about your car by observing
-  # how the car behaves to steering inputs from both human and openpilot driving.
-  # This includes:
-  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
-  # - tire stiffness: how much grip your tires have
-  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
-  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
-  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
-  EventName.vehicleModelInvalid: {
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
-  },
-
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
       "Steering Temporarily Unavailable",
@@ -576,9 +563,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
-  EventName.localizerMalfunction: {
-    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
-    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
   },
 
   # ********** events that affect controls state transitions **********
@@ -676,7 +688,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "Sensor Data Invalid",
-      "Ensure device is mounted securely",
+      "Possible Hardware Issue",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
@@ -957,7 +969,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import service_list
+  from cereal.services import SERVICE_LIST
   from collections import defaultdict, OrderedDict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -965,7 +977,7 @@ if __name__ == '__main__':
 
   CP = car.CarParams.new_message()
   CS = car.CarState.new_message()
-  sm = messaging.SubMaster(list(service_list.keys()))
+  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():

selfdrive/controls/tests/test_leads.py

@@ -3,8 +3,8 @@ import unittest
 
 import cereal.messaging as messaging
 
-from selfdrive.test.process_replay import replay_process_with_name
-from selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
 class TestLeads(unittest.TestCase):

selfdrive/debug/check_lag.py

@@ -2,7 +2,7 @@
 from typing import Dict
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 TO_CHECK = ['carState']
 
@@ -20,7 +20,7 @@ if __name__ == "__main__":
         t = sm.logMonoTime[s] / 1e9
 
         if s in prev_t:
-          expected = 1.0 / (service_list[s].frequency)
+          expected = 1.0 / (SERVICE_LIST[s].frequency)
           dt = t - prev_t[s]
           if dt > 10 * expected:
             print(t, s, dt)

selfdrive/debug/count_events.py

@@ -7,7 +7,7 @@ from pprint import pprint
 from tqdm import tqdm
 from typing import List, Tuple, cast
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
 
@@ -17,7 +17,7 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
-  cams = [s for s in service_list if s.endswith('CameraState')]
+  cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
   alerts: List[Tuple[float, str]] = []
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   print("\n")
   print("Cameras")
   for k, v in cnt_cameras.items():
-    s = service_list[k]
+    s = SERVICE_LIST[k]
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 

selfdrive/debug/cycle_alerts.py

@@ -25,7 +25,8 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.buttonCancel, ET.USER_DISABLE),
     (EventName.wrongGear, ET.NO_ENTRY),
 
-    (EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
+    (EventName.locationdTemporaryError, ET.SOFT_DISABLE),
+    (EventName.paramsdTemporaryError, ET.SOFT_DISABLE),
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence

selfdrive/debug/dump.py

@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -31,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None

selfdrive/debug/internal/qlog_size.py

@@ -5,7 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route
 
@@ -49,7 +49,7 @@ if __name__ == "__main__":
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
   qlog_by_type = defaultdict(list)
-  for name, service in service_list.items():
+  for name, service in SERVICE_LIST.items():
     if service.decimation is None:
       continue
 

selfdrive/debug/profiling/simpleperf/eon_perf.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-set -e
-
-cd "$( dirname "${BASH_SOURCE[0]}" )"
-
-ssh "$1" '$HOME/one/external/simpleperf/bin/android/arm64/simpleperf record --call-graph fp -a --duration 10 -o /tmp/perf.data'
-scp "$1":/tmp/perf.data /tmp/perf.data
-python2 report_html.py -i /tmp/perf.data -o /tmp/report.html

selfdrive/debug/profiling/simpleperf/get.txt

@@ -1,3 +0,0 @@
-git clone https://android.googlesource.com/platform/prebuilts/simpleperf
-git reset --hard 311a9d2cd27841498fc90a0b26a755deb47e7ebd
-cp -r report_html.* simpleperf_report_lib.py utils.py inferno lib ~/one/external/simpleperf/

selfdrive/locationd/SConscript

@@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
 lenv = env.Clone()
 lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
 locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
-lenv.Depends(locationd, libkf)
-
-if File("liblocationd.cc").exists():
-  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
+lenv.Depends(locationd, libkf)