Hyundai longitudinal: enable for KIA_CEED

.github/workflows/badges.yaml

@@ -18,7 +18,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Push badges
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"

.github/workflows/selfdrive_tests.yaml

@@ -41,7 +41,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       timeout-minutes: 1
@@ -74,7 +74,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Build openpilot with all flags
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
       run: |
@@ -196,7 +196,7 @@ jobs:
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
       with:
         git-lfs: false
     - name: Build and push CL Docker image
@@ -223,7 +223,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
@@ -241,7 +241,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Build openpilot
       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)"
@@ -249,7 +249,7 @@ jobs:
       timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST -n auto --dist=loadscope --timeout 30 && \
+                        $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
@@ -273,7 +273,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -313,7 +313,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Build base Docker image
       run: eval "$BUILD"
     - name: Build Docker image
@@ -349,7 +349,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -378,7 +378,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - uses: ./.github/workflows/setup-with-retry
+      - uses: ./.github/workflows/setup
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"

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

@@ -1,39 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
-    required: false
-    default: 'true'
-
-env:
-  SLEEP_TIME: 30 # Time to sleep between retries
-
-runs:
-  using: "composite"
-  steps:
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        git_lfs: ${{ inputs.git_lfs }}
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        git_lfs: ${{ inputs.git_lfs }}
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        git_lfs: ${{ inputs.git_lfs }}
-        is_retried: true

.github/workflows/setup/action.yaml

@@ -5,21 +5,10 @@ inputs:
     description: 'Whether or not to pull the git lfs'
     required: false
     default: 'true'
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
 
 runs:
   using: "composite"
   steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
       if: ${{ inputs.git_lfs == 'true' }}

.github/workflows/tools_tests.yaml

@@ -33,10 +33,11 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - name: Build Docker image
+      run: eval "$BUILD"
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
@@ -51,7 +52,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
     - name: Build base cl image
       run: eval "$BUILD_CL"
     - name: Setup to push to repo
@@ -71,7 +72,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/setup
       with:
         git_lfs: false
     - name: Setup to push to repo

.pre-commit-config.yaml

@@ -1,4 +1,3 @@
-exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
     hooks:
@@ -15,8 +14,6 @@ repos:
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
@@ -83,7 +80,3 @@ repos:
         name: validate poetry lock
         args:
         - --check
--   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.26.3
-    hooks:
-    -   id: check-github-workflows

common/params.h

@@ -15,11 +15,7 @@ enum ParamKeyType {
 
 class Params {
 public:
-  explicit Params(const std::string &path = {});
-  // Not copyable.
-  Params(const Params&) = delete;
-  Params& operator=(const Params&) = delete;
-
+  Params(const std::string &path = {});
   std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);

common/swaglog.cc

@@ -20,7 +20,7 @@
 
 class SwaglogState : public LogState {
  public:
-  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
+  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
 
   json11::Json::object ctx_j;
 

common/tests/test_params.py

@@ -1,6 +1,8 @@
 import os
 import threading
 import time
+import tempfile
+import shutil
 import uuid
 import unittest
 
@@ -8,7 +10,12 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no
 
 class TestParams(unittest.TestCase):
   def setUp(self):
-    self.params = Params()
+    self.tmpdir = tempfile.mkdtemp()
+    print("using", self.tmpdir)
+    self.params = Params(self.tmpdir)
+
+  def tearDown(self):
+    shutil.rmtree(self.tmpdir)
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
@@ -83,19 +90,19 @@ class TestParams(unittest.TestCase):
     self.assertFalse(self.params.get_bool("IsMetric"))
 
   def test_put_non_blocking_with_get_block(self):
-    q = Params()
+    q = Params(self.tmpdir)
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test")
+      put_nonblocking("CarParams", "test", self.tmpdir)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
   def test_put_bool_non_blocking_with_get_block(self):
-    q = Params()
+    q = Params(self.tmpdir)
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True)
+      put_bool_nonblocking("CarParams", True, self.tmpdir)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"

common/tests/test_ratekeeper.cc

@@ -6,18 +6,11 @@
 TEST_CASE("RateKeeper") {
   float freq = GENERATE(10, 50, 100);
   RateKeeper rk("Test RateKeeper", freq);
-
-  int lags = 0;
-  int bad_keep_times = 0;
   for (int i = 0; i < freq; ++i) {
     double begin = seconds_since_boot();
     util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
     bool lagged = rk.keepTime();
-    lags += lagged;
-    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
+    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
+    REQUIRE(lagged == false);
   }
-
-  // need a tolerance here due to scheduling
-  REQUIRE(lags < 5);
-  REQUIRE(bad_keep_times < 5);
 }

common/tests/test_swaglog.cc

@@ -9,6 +9,7 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -24,7 +25,7 @@ void log_thread(int thread_id, int msg_cnt) {
 void recv_log(int thread_cnt, int thread_msg_cnt) {
   void *zctx = zmq_ctx_new();
   void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
+  zmq_bind(sock, SWAGLOG_ADDR);
   std::vector<int> thread_msgs(thread_cnt);
   int total_count = 0;
 

common/util.h

@@ -188,9 +188,9 @@ class LogState {
   void *zctx = nullptr;
   void *sock = nullptr;
   int print_level;
-  std::string endpoint;
+  const char* endpoint;
 
-  LogState(std::string _endpoint) {
+  LogState(const char* _endpoint) {
     endpoint = _endpoint;
   }
 
@@ -202,7 +202,7 @@ class LogState {
     int timeout = 100;
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
-    zmq_connect(sock, endpoint.c_str());
+    zmq_connect(sock, endpoint);
     initialized = true;
   }
 

conftest.py

@@ -1,10 +0,0 @@
-import pytest
-
-from openpilot.common.prefix import OpenpilotPrefix
-
-
-@pytest.fixture(scope="function", autouse=True)
-def global_setup_and_teardown():
-  # setup a clean environment for each test
-  with OpenpilotPrefix():
-    yield

docs/CARS.md

@@ -83,13 +83,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|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=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|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 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 Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 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 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 Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|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 Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 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 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 Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|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=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |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|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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)|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 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 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 (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>|
@@ -111,7 +111,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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 (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|Ceed 2019|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=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>||
 |Kia|EV6 (with HDA II) 2022-23[<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 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 (with HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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 (without HDA II) 2022-23">Buy Here</a></sub></details>||

poetry.lock

@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -2766,14 +2766,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
-    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "opencv-python-headless"
@@ -2792,14 +2785,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
-    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "packaging"
@@ -5049,4 +5035,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1"
+content-hash = "949a4c853db95a61159dc93c05d42d78a334b08f0f62b74587d77a348db9cf23"

pyproject.toml

@@ -1,27 +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=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
 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)"
 ]
-testpaths = [
-  "common",
-  "selfdrive/athena",
-  "selfdrive/boardd",
-  "selfdrive/car",
-  "selfdrive/controls",
-  "selfdrive/locationd",
-  "selfdrive/monitoring",
-  "selfdrive/thermald",
-  "selfdrive/test/longitudinal_maneuvers",
-  "system/hardware/tici",
-  "system/loggerd",
-  "system/tests",
-  "system/ubloxd",
-  "tools/lib/tests"
-]
 
 [tool.mypy]
 python_version = "3.11"
@@ -128,7 +112,7 @@ 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 ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" }
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"

release/files_common

@@ -209,7 +209,6 @@ system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
 system/hardware/hw.h
-system/hardware/hw.py
 system/hardware/tici/__init__.py
 system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
@@ -361,10 +360,12 @@ selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.py
-selfdrive/modeld/navmodeld.py
-selfdrive/modeld/dmonitoringmodeld.py
+selfdrive/modeld/navmodeld.cc
+selfdrive/modeld/dmonitoringmodeld.cc
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
+selfdrive/modeld/navmodeld
+selfdrive/modeld/dmonitoringmodeld
 
 selfdrive/modeld/models/__init__.py
 selfdrive/modeld/models/*.pxd
@@ -377,8 +378,12 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/supercombo.onnx
 
+selfdrive/modeld/models/dmonitoring.cc
+selfdrive/modeld/models/dmonitoring.h
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
+selfdrive/modeld/models/nav.cc
+selfdrive/modeld/models/nav.h
 selfdrive/modeld/models/navmodel_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc

selfdrive/athena/athenad.py

@@ -36,11 +36,11 @@ from openpilot.common.file_helpers import CallbackReader
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC, AGNOS
+from openpilot.system.loggerd.config import ROOT
 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.swaglog import SWAGLOG_DIR, cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
-from selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -119,11 +119,12 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
+  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = Params().get("AthenadUploadQueue")
+      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -135,7 +136,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", json.dumps(items))
+      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -351,7 +352,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, ROOT)
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
@@ -366,7 +367,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  return scan_dir(ROOT, prefix)
 
 
 @dispatcher.add_method
@@ -407,7 +408,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(Paths.log_root(), file.fn)
+    path = os.path.join(ROOT, file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(file.fn)
       continue
@@ -571,8 +572,8 @@ def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
-  for log_entry in os.listdir(Paths.swaglog_root()):
-    log_path = os.path.join(Paths.swaglog_root(), log_entry)
+  for log_entry in os.listdir(SWAGLOG_DIR):
+    log_path = os.path.join(SWAGLOG_DIR, log_entry)
     time_sent = 0
     try:
       value = getxattr(log_path, LOG_ATTR_NAME)
@@ -607,7 +608,7 @@ def log_handler(end_event: threading.Event) -> None:
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
           curr_time = int(time.time())
-          log_path = os.path.join(Paths.swaglog_root(), log_entry)
+          log_path = os.path.join(SWAGLOG_DIR, log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
             jsonrpc = {
@@ -634,7 +635,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_success = "result" in log_resp and log_resp["result"].get("success")
           cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
           if log_entry and log_success:
-            log_path = os.path.join(Paths.swaglog_root(), log_entry)
+            log_path = os.path.join(SWAGLOG_DIR, log_entry)
             try:
               setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:

selfdrive/athena/tests/test_athenad.py

@@ -3,6 +3,7 @@ import json
 import os
 import requests
 import shutil
+import tempfile
 import time
 import threading
 import queue
@@ -17,11 +18,11 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
+from openpilot.system import swaglog
 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
 
 
 class TestAthenadMethods(unittest.TestCase):
@@ -29,6 +30,8 @@ class TestAthenadMethods(unittest.TestCase):
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
     athenad.Params = MockParams
+    athenad.ROOT = tempfile.mkdtemp()
+    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
@@ -38,8 +41,8 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
 
-    for i in os.listdir(Paths.log_root()):
-      p = os.path.join(Paths.log_root(), i)
+    for i in os.listdir(athenad.ROOT):
+      p = os.path.join(athenad.ROOT, i)
       if os.path.isdir(p):
         shutil.rmtree(p)
       else:
@@ -58,7 +61,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @staticmethod
   def _create_file(file: str, parent: Optional[str] = None) -> str:
-    fn = os.path.join(Paths.log_root() if parent is None else parent, file)
+    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     Path(fn).touch()
     return fn
@@ -415,7 +418,7 @@ class TestAthenadMethods(unittest.TestCase):
     fl = list()
     for i in range(10):
       file = f'swaglog.{i:010}'
-      self._create_file(file, Paths.swaglog_root())
+      self._create_file(file, athenad.SWAGLOG_DIR)
       fl.append(file)
 
     # ensure the list is all logs except most recent

selfdrive/car/body/interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import math
 from cereal import car
 from openpilot.common.realtime import DT_CTRL

selfdrive/car/body/radar_interface.py

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

selfdrive/car/disable_ecu.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.system.swaglog import cloudlog
 

selfdrive/car/ford/interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV

selfdrive/car/ford/radar_interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser

selfdrive/car/hyundai/carcontroller.py

@@ -6,7 +6,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -91,8 +91,7 @@ class CarController:
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and \
-      self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@@ -147,7 +146,7 @@ class CarController:
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), CS, self.CP.carFingerprint,
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control.leadVisible, set_speed_in_units, stopping,
                                                         CC.cruiseControl.override, use_fca))
 
@@ -157,7 +156,7 @@ class CarController:
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer, CS, self.CP.carFingerprint))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carstate.py

@@ -156,10 +156,6 @@ class CarState(CarStateBase):
     # save the entire LKAS11 and CLU11
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
-    # only forward FCA messages for FCW/AEB when using openpilot longitudinal on Camera SCC cars
-    if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint in CAMERA_SCC_CAR:
-      self.fca11 = copy.copy(cp_cruise.vl["FCA11"])
-      self.fca12 = copy.copy(cp_cruise.vl["FCA12"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
@@ -300,21 +296,14 @@ class CarState(CarStateBase):
       ("LKAS11", 100)
     ]
 
-    if CP.carFingerprint in CAMERA_SCC_CAR:
-      if CP.openpilotLongitudinalControl:
-        if CP.flags & HyundaiFlags.USE_FCA.value:
-          messages += [
-            ("FCA11", 50),
-            ("FCA12", 50),
-          ]
-      else:
-        messages += [
-          ("SCC11", 50),
-          ("SCC12", 50),
-        ]
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+      messages += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
 
-        if CP.flags & HyundaiFlags.USE_FCA.value:
-          messages.append(("FCA11", 50))
+      if CP.flags & HyundaiFlags.USE_FCA.value:
+        messages.append(("FCA11", 50))
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 

selfdrive/car/hyundai/hyundaican.py

@@ -125,7 +125,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, CS, car_fingerprint, lead_visible, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
   commands = []
 
   scc11_values = {
@@ -172,27 +172,21 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, CS, car_fingerp
 
   # Only send FCA11 on cars where it exists on the bus
   if use_fca:
-    if car_fingerprint in CAMERA_SCC_CAR:
-      fca11_values = CS.fca11
-      fca11_values["PAINT1_Status"] = 1
-      fca11_values["FCA_DrvSetStatus"] = 1
-      fca11_values["FCA_Status"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified
-    else:
-      # note that some vehicles most likely have an alternate checksum/counter definition
-      # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-      fca11_values = {
-        "CR_FCA_Alive": idx % 0xF,
-        "PAINT1_Status": 1,
-        "FCA_DrvSetStatus": 1,
-        "FCA_Status": 1,  # AEB disabled
-      }
+    # note that some vehicles most likely have an alternate checksum/counter definition
+    # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
+    fca11_values = {
+      "CR_FCA_Alive": idx % 0xF,
+      "PAINT1_Status": 1,
+      "FCA_DrvSetStatus": 1,
+      "FCA_Status": 1,  # AEB disabled
+    }
     fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
     fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
     commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
   return commands
 
-def create_acc_opt(packer, CS, car_fingerprint):
+def create_acc_opt(packer):
   commands = []
 
   scc13_values = {
@@ -203,15 +197,10 @@ def create_acc_opt(packer, CS, car_fingerprint):
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
   # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  if car_fingerprint in CAMERA_SCC_CAR:
-    fca12_values = CS.fca12
-    fca12_values["FCA_DrvSetState"] = 2
-    fca12_values["FCA_USM"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified
-  else:
-    fca12_values = {
-      "FCA_DrvSetState": 2,
-      "FCA_USM": 1, # AEB disabled
-    }
+  fca12_values = {
+    "FCA_DrvSetState": 2,
+    "FCA_USM": 1, # AEB disabled
+  }
   commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands

selfdrive/car/hyundai/interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
@@ -252,7 +253,7 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
+      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -311,8 +312,7 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and \
-      CP.carFingerprint not in CAMERA_SCC_CAR:
+    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN

selfdrive/car/hyundai/radar_interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import math
 
 from cereal import car

selfdrive/car/hyundai/values.py

@@ -576,13 +576,11 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
-      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -595,7 +593,6 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
-      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -1414,7 +1411,10 @@ 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',
+      # TODO: these return from the MULTI request, above return from LONG
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1422,14 +1422,12 @@ 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',
@@ -1978,8 +1976,8 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
           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,
-                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, 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.

selfdrive/car/nissan/interface.py

@@ -1,5 +1,5 @@
+#!/usr/bin/env python3
 from cereal import car
-from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
+      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
       ret.mass = 1492
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/nissan/radar_interface.py

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

selfdrive/car/subaru/carcontroller.py

@@ -1,13 +1,8 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
-
-# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
-# involves the total steering angle change rather than rate, but these limits work well for now
-MAX_STEER_RATE = 25  # deg/s
-MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
 
 
 class CarController:
@@ -17,7 +12,6 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
-    self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -44,15 +38,7 @@ class CarController:
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        apply_steer_req = CC.latActive
-
-        if self.CP.carFingerprint in STEER_RATE_LIMITED:
-          # Steering rate fault prevention
-          self.steer_rate_counter, apply_steer_req = \
-            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
-                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
-
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
 
       self.apply_steer_last = apply_steer
 
@@ -94,30 +80,29 @@ class CarController:
 
     else:
       if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
                                                         CC.longActive, hud_control.leadVisible))
 
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
-                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+          can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
 
-          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
+          can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
 
-          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
+          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
           if self.CP.carFingerprint not in HYBRID_CARS:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
-            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/car/subaru/interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config

selfdrive/car/subaru/radar_interface.py

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

selfdrive/car/subaru/subarucan.py

@@ -16,9 +16,10 @@ def create_steering_control(packer, apply_steer, steer_req):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
   values = {s: es_distance_msg[s] for s in [
     "CHECKSUM",
+    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_Throttle",
@@ -38,8 +39,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
     "Cruise_Resume",
     "Signal6",
   ]}
-
-  values["COUNTER"] = frame % 0x10
+  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
 
   if long_enabled:
     values["Cruise_Throttle"] = cruise_throttle
@@ -57,9 +57,10 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
   return packer.make_can_msg("ES_Distance", bus, values)
 
 
-def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
   values = {s: es_lkas_state_msg[s] for s in [
     "CHECKSUM",
+    "COUNTER",
     "LKAS_Alert_Msg",
     "Signal1",
     "LKAS_ACTIVE",
@@ -76,8 +77,6 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert
     "Signal3",
   ]}
 
-  values["COUNTER"] = frame % 0x10
-
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
     values["LKAS_Alert_Msg"] = 0
@@ -120,9 +119,10 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert
 
   return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
-def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
+def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
   values = {s: dashstatus_msg[s] for s in [
     "CHECKSUM",
+    "COUNTER",
     "PCB_Off",
     "LDW_Off",
     "Signal1",
@@ -150,8 +150,6 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
     "Cruise_State",
   ]}
 
-  values["COUNTER"] = frame % 0x10
-
   if enabled and long_active:
     values["Cruise_State"] = 0
     values["Cruise_Activated"] = 1
@@ -167,9 +165,10 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
   return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
-def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
+def create_es_brake(packer, es_brake_msg, enabled, brake_value):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",
+    "COUNTER",
     "Signal1",
     "Brake_Pressure",
     "AEB_Status",
@@ -180,8 +179,6 @@ def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
     "Signal3",
   ]}
 
-  values["COUNTER"] = frame % 0x10
-
   if enabled:
     values["Cruise_Activated"] = 1
 
@@ -193,9 +190,10 @@ def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
-def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
+def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
   values = {s: es_status_msg[s] for s in [
     "CHECKSUM",
+    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_RPM",
@@ -206,8 +204,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
     "Signal3",
   ]}
 
-  values["COUNTER"] = frame % 0x10
-
   if long_enabled:
     values["Cruise_RPM"] = cruise_rpm
 
@@ -217,18 +213,16 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
   return packer.make_can_msg("ES_Status", CanBus.main, values)
 
 
-def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
+def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   values = {s: es_infotainment_msg[s] for s in [
     "CHECKSUM",
+    "COUNTER",
     "LKAS_State_Infotainment",
     "LKAS_Blue_Lines",
     "Signal1",
     "Signal2",
   ]}
-
-  values["COUNTER"] = frame % 0x10
-
   if values["LKAS_State_Infotainment"] in (3, 4):
     values["LKAS_State_Infotainment"] = 0
 

selfdrive/car/subaru/values.py

@@ -707,7 +707,3 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
-
-# Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all cars that started production after 2020
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}

selfdrive/car/tests/routes.py

@@ -126,11 +126,9 @@ routes = [
   CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
-  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV),  # openpilot longitudinal enabled
   CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
   CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
   CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
-  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ),  # openpilot longitudinal enabled
   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),
@@ -168,7 +166,6 @@ routes = [
   CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
   CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
   CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
-  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
   CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
   CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
   CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
@@ -244,7 +241,6 @@ routes = [
   CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),

selfdrive/car/tests/test_fw_fingerprint.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import pytest
 import random
 import time
 import unittest
@@ -225,7 +224,6 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self._assert_timing(vin_time / self.N, vin_ref_time)
     print(f'get_vin, query time={vin_time / self.N} seconds')
 
-  @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
     total_ref_time = 6.07
     brand_ref_times = {

selfdrive/car/tests/test_lateral_limits.py

@@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
-@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
+@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
 class TestLateralLimits(unittest.TestCase):
   car_model: str
 

selfdrive/car/tests/test_models.py

@@ -24,7 +24,6 @@ from panda.tests.libpanda import libpanda_py
 from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
 PandaType = log.PandaState.PandaType
-SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
@@ -71,7 +70,6 @@ class TestCarModelBase(unittest.TestCase):
   ci: bool = True
 
   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
@@ -107,7 +105,6 @@ class TestCarModelBase(unittest.TestCase):
 
       car_fw = []
       can_msgs = []
-      cls.elm_frame = None
       fingerprint = defaultdict(dict)
       experimental_long = False
       enabled_toggle = True
@@ -133,16 +130,6 @@ class TestCarModelBase(unittest.TestCase):
             if param.key == 'OpenpilotEnabledToggle':
               enabled_toggle = param.value.strip(b'\x00') == b'1'
 
-        # Log which can frame the panda safety mode left ELM327, for CAN validity checks
-        if msg.which() == 'pandaStates':
-          for ps in msg.pandaStates:
-            if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
-              cls.elm_frame = len(can_msgs)
-
-        elif msg.which() == 'pandaStateDEPRECATED':
-          if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
-            cls.elm_frame = len(can_msgs)
-
       if len(can_msgs) > int(50 / DT_CTRL):
         break
     else:
@@ -217,10 +204,8 @@ class TestCarModelBase(unittest.TestCase):
     RI = RadarInterface(self.CP)
     assert RI
 
-    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
-    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
-    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
+    for i, msg in enumerate(self.can_msgs):
       rr = RI.update((msg.as_builder().to_bytes(),))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
@@ -253,9 +238,9 @@ class TestCarModelBase(unittest.TestCase):
         if t > 1e6:
           self.assertTrue(self.safety.addr_checks_valid())
 
-          # No need to check relay malfunction on disabled routes (relay closed),
-          # or before fingerprinting is done (1s of tolerance to exit silent mode)
-          if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100):
+          # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
+          # TODO: detect when relay has flipped to properly check relay malfunction
+          if self.openpilot_enabled and t > 5e6:
             self.assertFalse(self.safety.get_relay_malfunction())
           else:
             self.safety.set_relay_malfunction(False)

selfdrive/car/toyota/interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda import Panda
@@ -204,8 +205,7 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
-    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
+    if 0x2FF in fingerprint[0]:
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
     # No radar dbc for cars without DSU which are not TSS 2.0
@@ -219,14 +219,13 @@ class CarInterface(CarInterfaceBase):
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
-    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
+    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
-    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
+    if candidate in RADAR_ACC_CAR:
       ret.experimentalLongitudinalAvailable = use_sdsu
 
       if not use_sdsu:
-        # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
+        if experimental_long and False:  # TODO: disabling radar isn't supported yet
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -238,7 +237,6 @@ class CarInterface(CarInterfaceBase):
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars w/ smartDSU installed
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
-    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 

selfdrive/car/volkswagen/radar_interface.py

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

selfdrive/controls/controlsd.py

@@ -381,8 +381,6 @@ class Controls:
     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:
@@ -422,6 +420,8 @@ class Controls:
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
+      if self.sm['liveLocationKalman'].excessiveResets:
+        self.events.add(EventName.localizerMalfunction)
 
   def data_sample(self):
     """Receive data from sockets and update carState"""

selfdrive/controls/lib/events.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 import os
 from enum import IntEnum
@@ -576,9 +575,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
+  # When the GPS position and localizer diverge the localizer is reset to the
+  # current GPS position. This alert is thrown when the localizer is reset
+  # more often than expected.
   EventName.localizerMalfunction: {
-    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
-    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
+    # ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"),
   },
 
   # ********** events that affect controls state transitions **********

selfdrive/controls/radard.py

@@ -50,8 +50,7 @@ class KalmanParams:
 
 
 class Track:
-  def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
-    self.identifier = identifier
+  def __init__(self, v_lead: float, kalman_params: KalmanParams):
     self.cnt = 0
     self.aLeadTau = _LEAD_ACCEL_TAU
     self.K_A = kalman_params.A
@@ -99,12 +98,11 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
-      "aLeadTau": float(self.aLeadTau),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
-      "radarTrackId": self.identifier,
+      "aLeadTau": float(self.aLeadTau)
     }
 
   def potential_low_speed_lead(self, v_ego: float):
@@ -160,9 +158,8 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),
-    "status": True,
     "radar": False,
-    "radarTrackId": -1,
+    "status": True
   }
 
 
@@ -240,7 +237,7 @@ class RadarD:
 
       # create the track if it doesn't exist or it's a new track
       if ids not in self.tracks:
-        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
+        self.tracks[ids] = Track(v_lead, self.kalman_params)
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***

selfdrive/controls/tests/test_cruise_speed.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import itertools
 import numpy as np
 import unittest
 
@@ -32,19 +31,21 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
   return output[-1, 3]
 
 
-@parameterized_class(("e2e", "personality", "speed"), itertools.product(
-                      [True, False], # e2e
-                      log.LongitudinalPersonality.schema.enumerants, # personality
-                      [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
     params = Params()
-    params.put("LongitudinalPersonality", str(self.personality))
-    print(f'Testing {self.speed} m/s')
-    cruise_speed = float(self.speed)
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [5,35]:
+          print(f'Testing {speed} m/s')
+          cruise_speed = float(speed)
 
-    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
-    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
+          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
+          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
 
 
 # TODO: test pcmCruise

selfdrive/locationd/laikad.py

@@ -24,11 +24,11 @@ from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velf
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
 from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
-from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemerisV3'
+DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
@@ -83,7 +83,7 @@ class Laikad:
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
-                              clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
+                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
 
     self.auto_fetch_navs = auto_fetch_navs
@@ -435,9 +435,9 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
 
 
 def clear_tmp_cache():
-  if os.path.exists(Paths.download_cache_root()):
-    shutil.rmtree(Paths.download_cache_root())
-  os.mkdir(Paths.download_cache_root())
+  if os.path.exists(DOWNLOADS_CACHE_FOLDER):
+    shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
+  os.mkdir(DOWNLOADS_CACHE_FOLDER)
 
 
 def main(sm=None, pm=None):

selfdrive/locationd/locationd.cc

@@ -21,11 +21,9 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s
 const double VALID_POS_STD = 50.0; // m
 const double MAX_RESET_TRACKER = 5.0;
 const double SANE_GPS_UNCERTAINTY = 1500.0; // m
-const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
-const double RESET_TRACKER_DECAY = 0.99995;
-const double DECAY = 0.9993; // ~10 secs to resume after a bad input
+const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
+const double DECAY = 0.99995; // same as reset tracker
 const double MAX_FILTER_REWIND_TIME = 0.8; // s
-const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
 
 // TODO: GPS sensor time offsets are empirically calculated
 // They should be replaced with synced time from a real clock
@@ -258,13 +256,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
     auto v = log.getGyroUncalibrated().getV();
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
-
-    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
-    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
-    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
-    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
-
-    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
+    if (meas.norm() < ROTATION_SANITY_CHECK) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
       this->observation_values_invalid["gyroscope"] *= DECAY;
     } else {
@@ -491,7 +483,6 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
     { trans_device }, { trans_device_cov });
   this->observation_values_invalid["cameraOdometry"] *= DECAY;
-  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
 }
 
 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
@@ -547,7 +538,7 @@ void Localizer::time_check(double current_time) {
 void Localizer::update_reset_tracker() {
   // reset tracker is tuned to trigger when over 1reset/10s over 2min period
   if (this->is_gps_ok()) {
-    this->reset_tracker *= RESET_TRACKER_DECAY;
+    this->reset_tracker *= DECAY;
   } else {
     this->reset_tracker = 0.0;
   }

selfdrive/locationd/locationd.h

@@ -94,7 +94,6 @@ private:
   float gps_variance_factor;
   float gps_vertical_variance_factor;
   double gps_time_offset;
-  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
 
   void configure_gnss_source(const LocalizerGnssSource &source);
 };

selfdrive/locationd/test/test_locationd.py

@@ -80,7 +80,7 @@ class TestLocationdProc(unittest.TestCase):
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)
       if msg.which() == "cameraOdometry":
-        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1)
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPosition'))

selfdrive/manager/process_config.py

@@ -52,13 +52,13 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
 
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
-  PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),

selfdrive/modeld/SConscript

@@ -32,6 +32,12 @@ if arch == "Darwin":
 else:
   libs += ['OpenCL']
 
+# Use onnx on PC
+if arch != "larch64" and not GetOption('snpe'):
+  common_src += ['runners/onnxmodel.cc']
+  lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
+  lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
+
 # Set path definitions
 for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
   for xenv in (lenv, lenvCython):
@@ -54,6 +60,20 @@ lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
+# Compile binaries
+lenv['FRAMEWORKS'] = frameworks
+common_model = lenv.Object(common_src)
+
+lenv.Program('_dmonitoringmodeld', [
+    "dmonitoringmodeld.cc",
+    "models/dmonitoring.cc",
+  ]+common_model, LIBS=libs + snpe_lib)
+
+lenv.Program('_navmodeld', [
+    "navmodeld.cc",
+    "models/nav.cc",
+  ]+common_model, LIBS=libs + snpe_lib)
+
 # Build thneed model
 if arch == "larch64" or GetOption('pc_thneed'):
   fn = File("models/supercombo").abspath

selfdrive/modeld/dmonitoringmodeld

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ -f /TICI ]; then
+  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
+  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
+else
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
+fi
+exec ./_dmonitoringmodeld

selfdrive/modeld/dmonitoringmodeld.cc

@@ -0,0 +1,69 @@
+#include <sys/resource.h>
+#include <limits.h>
+
+#include <cstdio>
+#include <cstdlib>
+
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/modeld/models/dmonitoring.h"
+
+ExitHandler do_exit;
+
+void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
+  PubMaster pm({"driverStateV2"});
+  SubMaster sm({"liveCalibration"});
+  float calib[CALIB_LEN] = {0};
+  // double last = 0;
+
+  while (!do_exit) {
+    VisionIpcBufExtra extra = {};
+    VisionBuf *buf = vipc_client.recv(&extra);
+    if (buf == nullptr) continue;
+
+    sm.update(0);
+    if (sm.updated("liveCalibration")) {
+      auto calib_msg = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
+      for (int i = 0; i < CALIB_LEN; i++) {
+        calib[i] = calib_msg[i];
+      }
+    }
+
+    double t1 = millis_since_boot();
+    DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
+    double t2 = millis_since_boot();
+
+    // send dm packet
+    dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
+
+    // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
+    // last = t1;
+  }
+}
+
+int main(int argc, char **argv) {
+  setpriority(PRIO_PROCESS, 0, -15);
+
+  // init the models
+  DMonitoringModelState model;
+  dmonitoring_init(&model);
+
+  Params().putBool("DmModelInitialized", true);
+
+  LOGW("connecting to driver stream");
+  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
+  while (!do_exit && !vipc_client.connect(false)) {
+    util::sleep_for(100);
+  }
+
+  // run the models
+  if (vipc_client.connected) {
+    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
+    run_model(model, vipc_client);
+  }
+
+  dmonitoring_free(&model);
+  return 0;
+}

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,157 +0,0 @@
-#!/usr/bin/env python3
-import os
-import gc
-import math
-import time
-import ctypes
-import numpy as np
-from pathlib import Path
-from typing import Tuple, Dict
-
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
-from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
-
-CALIB_LEN = 3
-REG_SCALE = 0.25
-MODEL_WIDTH = 1440
-MODEL_HEIGHT = 960
-OUTPUT_SIZE = 84
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATHS = {
-  ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
-
-class DriverStateResult(ctypes.Structure):
-  _fields_ = [
-    ("face_orientation", ctypes.c_float*3),
-    ("face_position", ctypes.c_float*3),
-    ("face_orientation_std", ctypes.c_float*3),
-    ("face_position_std", ctypes.c_float*3),
-    ("face_prob", ctypes.c_float),
-    ("_unused_a", ctypes.c_float*8),
-    ("left_eye_prob", ctypes.c_float),
-    ("_unused_b", ctypes.c_float*8),
-    ("right_eye_prob", ctypes.c_float),
-    ("left_blink_prob", ctypes.c_float),
-    ("right_blink_prob", ctypes.c_float),
-    ("sunglasses_prob", ctypes.c_float),
-    ("occluded_prob", ctypes.c_float),
-    ("ready_prob", ctypes.c_float*4),
-    ("not_ready_prob", ctypes.c_float*2)]
-
-class DMonitoringModelResult(ctypes.Structure):
-  _fields_ = [
-    ("driver_state_lhd", DriverStateResult),
-    ("driver_state_rhd", DriverStateResult),
-    ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float)]
-
-class ModelState:
-  inputs: Dict[str, np.ndarray]
-  output: np.ndarray
-  model: ModelRunner
-
-  def __init__(self):
-    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {
-      'input_imgs': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
-      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
-
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("calib", self.inputs['calib'])
-
-  def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]:
-    self.inputs['calib'][:] = calib
-
-    v_offset = buf.height - MODEL_HEIGHT
-    h_offset = (buf.width - MODEL_WIDTH) // 2
-    buf_data = buf.data.reshape(-1, buf.stride)
-    input_data = self.inputs['input_imgs'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
-    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
-
-    t1 = time.perf_counter()
-    self.model.setInputBuffer("input_imgs", self.inputs['input_imgs'].view(np.float32))
-    self.model.execute()
-    t2 = time.perf_counter()
-    return self.output, t2 - t1
-
-
-def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
-  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
-  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
-  msg.faceProb = sigmoid(ds_result.face_prob)
-  msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
-  msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
-  msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
-  msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
-  msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
-  msg.occludedProb = sigmoid(ds_result.occluded_prob)
-  msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
-  msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
-
-def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
-  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
-  msg = messaging.new_message('driverStateV2')
-  ds = msg.driverStateV2
-  ds.frameId = frame_id
-  ds.modelExecutionTime = execution_time
-  ds.dspExecutionTime = dsp_execution_time
-  ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
-  ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
-  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
-  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
-  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
-  return msg
-
-
-def main():
-  gc.disable()
-  set_realtime_priority(1)
-
-  model = ModelState()
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-  Params().put_bool("DmModelInitialized", True)
-
-  cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
-  while not vipc_client.connect(False):
-    time.sleep(0.1)
-  assert vipc_client.is_connected()
-  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
-
-  sm = SubMaster(["liveCalibration"])
-  pm = PubMaster(["driverStateV2"])
-
-  calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  # last = 0
-
-  while True:
-    buf = vipc_client.recv()
-    if buf is None:
-      continue
-
-    sm.update(0)
-    if sm.updated["liveCalibration"]:
-      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
-
-    t1 = time.perf_counter()
-    model_output, dsp_execution_time = model.run(buf, calib)
-    t2 = time.perf_counter()
-
-    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
-    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
-    # last = t1
-
-
-if __name__ == "__main__":
-  main()

selfdrive/modeld/models/dmonitoring.cc

@@ -0,0 +1,133 @@
+#include <cstring>
+
+#include "common/mat.h"
+#include "common/modeldata.h"
+#include "common/params.h"
+#include "common/timing.h"
+#include "system/hardware/hw.h"
+
+#include "selfdrive/modeld/models/dmonitoring.h"
+
+constexpr int MODEL_WIDTH = 1440;
+constexpr int MODEL_HEIGHT = 960;
+
+template <class T>
+static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
+  if (buf.size() < size) buf.resize(size);
+  return buf.data();
+}
+
+void dmonitoring_init(DMonitoringModelState* s) {
+
+#ifdef USE_ONNX_MODEL
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
+#else
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
+#endif
+
+  s->m->addInput("input_imgs", NULL, 0);
+  s->m->addInput("calib", s->calib, CALIB_LEN);
+}
+
+void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
+  for (int i = 0; i < 3; ++i) {
+    ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
+    ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
+    ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
+  }
+  for (int i = 0; i < 4; ++i) {
+    ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
+  }
+  ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
+  ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
+  ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
+  ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
+  ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
+  ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
+  ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
+}
+
+void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
+  ddata.setFaceOrientation(ds_res.face_orientation);
+  ddata.setFaceOrientationStd(ds_res.face_orientation_std);
+  ddata.setFacePosition(ds_res.face_position);
+  ddata.setFacePositionStd(ds_res.face_position_std);
+  ddata.setFaceProb(ds_res.face_prob);
+  ddata.setLeftEyeProb(ds_res.left_eye_prob);
+  ddata.setRightEyeProb(ds_res.right_eye_prob);
+  ddata.setLeftBlinkProb(ds_res.left_blink_prob);
+  ddata.setRightBlinkProb(ds_res.right_blink_prob);
+  ddata.setSunglassesProb(ds_res.sunglasses_prob);
+  ddata.setOccludedProb(ds_res.occluded_prob);
+  ddata.setReadyProb(ds_res.ready_prob);
+  ddata.setNotReadyProb(ds_res.not_ready_prob);
+}
+
+DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
+  int v_off = height - MODEL_HEIGHT;
+  int h_off = (width - MODEL_WIDTH) / 2;
+  int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
+
+  uint8_t *raw_buf = (uint8_t *) stream_buf;
+  // vertical crop free
+  uint8_t *raw_y_start = raw_buf + stride * v_off;
+
+  uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
+
+  // here makes a uint8 copy
+  for (int r = 0; r < MODEL_HEIGHT; ++r) {
+    memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
+  }
+
+  // printf("preprocess completed. %d \n", yuv_buf_len);
+  // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
+  // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
+  // fclose(dump_yuv_file);
+
+  double t1 = millis_since_boot();
+  s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float));
+  for (int i = 0; i < CALIB_LEN; i++) {
+    s->calib[i] = calib[i];
+  }
+  s->m->execute();
+  double t2 = millis_since_boot();
+
+  DMonitoringModelResult model_res = {0};
+  parse_driver_data(model_res.driver_state_lhd, s, 0);
+  parse_driver_data(model_res.driver_state_rhd, s, 41);
+  model_res.poor_vision_prob = sigmoid(s->output[82]);
+  model_res.wheel_on_right_prob = sigmoid(s->output[83]);
+  model_res.dsp_execution_time = (t2 - t1) / 1000.;
+
+  return model_res;
+}
+
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
+  // make msg
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initDriverStateV2();
+  framed.setFrameId(frame_id);
+  framed.setModelExecutionTime(execution_time);
+  framed.setDspExecutionTime(model_res.dsp_execution_time);
+
+  framed.setPoorVisionProb(model_res.poor_vision_prob);
+  framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
+  fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
+  fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
+
+  if (send_raw_pred) {
+    framed.setRawPredictions(raw_pred.asBytes());
+  }
+
+  pm.send("driverStateV2", msg);
+}
+
+void dmonitoring_free(DMonitoringModelState* s) {
+  delete s->m;
+}

selfdrive/modeld/models/dmonitoring.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
+
+#define CALIB_LEN 3
+
+#define OUTPUT_SIZE 84
+#define REG_SCALE 0.25f
+
+typedef struct DriverStateResult {
+  float face_orientation[3];
+  float face_orientation_std[3];
+  float face_position[2];
+  float face_position_std[2];
+  float face_prob;
+  float left_eye_prob;
+  float right_eye_prob;
+  float left_blink_prob;
+  float right_blink_prob;
+  float sunglasses_prob;
+  float occluded_prob;
+  float ready_prob[4];
+  float not_ready_prob[2];
+} DriverStateResult;
+
+typedef struct DMonitoringModelResult {
+  DriverStateResult driver_state_lhd;
+  DriverStateResult driver_state_rhd;
+  float poor_vision_prob;
+  float wheel_on_right_prob;
+  float dsp_execution_time;
+} DMonitoringModelResult;
+
+typedef struct DMonitoringModelState {
+  RunModel *m;
+  float output[OUTPUT_SIZE];
+  std::vector<uint8_t> net_input_buf;
+  float calib[CALIB_LEN];
+} DMonitoringModelState;
+
+void dmonitoring_init(DMonitoringModelState* s);
+DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
+void dmonitoring_free(DMonitoringModelState* s);
+

selfdrive/modeld/models/driving.h

@@ -6,16 +6,13 @@
 #include "cereal/messaging/messaging.h"
 #include "common/modeldata.h"
 #include "common/util.h"
-#include "selfdrive/modeld/models/commonmodel.h"
-#include "selfdrive/modeld/runners/run.h"
+#include "selfdrive/modeld/models/nav.h"
 
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
-constexpr int NAV_FEATURE_LEN = 256;
-constexpr int NAV_INSTRUCTION_LEN = 150;
 constexpr int DRIVING_STYLE_LEN = 12;
 constexpr int MODEL_FREQ = 20;
 

selfdrive/modeld/models/nav.cc

@@ -0,0 +1,71 @@
+#include "selfdrive/modeld/models/nav.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include "common/mat.h"
+#include "common/modeldata.h"
+#include "common/timing.h"
+
+
+void navmodel_init(NavModelState* s) {
+  #ifdef USE_ONNX_MODEL
+    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
+  #else
+    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
+  #endif
+
+  s->m->addInput("map", NULL, 0);
+}
+
+NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
+  memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
+
+  double t1 = millis_since_boot();
+  s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
+  s->m->execute();
+  double t2 = millis_since_boot();
+
+  NavModelResult *model_res = (NavModelResult*)&s->output;
+  model_res->dsp_execution_time = (t2 - t1) / 1000.;
+  return model_res;
+}
+
+void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) {
+  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y;
+  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std;
+
+  for (int i=0; i<TRAJECTORY_SIZE; i++) {
+    pos_x[i] = plan.mean[i].x;
+    pos_y[i] = plan.mean[i].y;
+    pos_x_std[i] = exp(plan.std[i].x);
+    pos_y_std[i] = exp(plan.std[i].y);
+  }
+
+  auto position = framed.initPosition();
+  position.setX(to_kj_array_ptr(pos_x));
+  position.setY(to_kj_array_ptr(pos_y));
+  position.setXStd(to_kj_array_ptr(pos_x_std));
+  position.setYStd(to_kj_array_ptr(pos_y_std));
+}
+
+void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
+  // make msg
+  MessageBuilder msg;
+  auto evt = msg.initEvent();
+  auto framed = evt.initNavModel();
+  evt.setValid(extra.valid && route_valid);
+  framed.setFrameId(extra.frame_id);
+  framed.setLocationMonoTime(extra.timestamp_sof);
+  framed.setModelExecutionTime(execution_time);
+  framed.setDspExecutionTime(model_res.dsp_execution_time);
+  framed.setFeatures(to_kj_array_ptr(model_res.features.values));
+  framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
+  fill_plan(framed, model_res.plan);
+
+  pm.send("navModel", msg);
+}
+
+void navmodel_free(NavModelState* s) {
+  delete s->m;
+}

selfdrive/modeld/models/nav.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/util.h"
+#include "common/modeldata.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
+
+constexpr int NAV_INPUT_SIZE = 256*256;
+constexpr int NAV_FEATURE_LEN = 256;
+constexpr int NAV_INSTRUCTION_LEN = 150;
+constexpr int NAV_DESIRE_LEN = 32;
+
+struct NavModelOutputXY {
+  float x;
+  float y;
+};
+static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
+
+struct NavModelOutputPlan {
+  std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
+  std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
+};
+static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
+
+struct NavModelOutputDesirePrediction {
+  std::array<float, NAV_DESIRE_LEN> values;
+};
+static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
+
+struct NavModelOutputFeatures {
+  std::array<float, NAV_FEATURE_LEN> values;
+};
+static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
+
+struct NavModelResult {
+  const NavModelOutputPlan plan;
+  const NavModelOutputDesirePrediction desire_pred;
+  const NavModelOutputFeatures features;
+  float dsp_execution_time;
+};
+static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
+
+constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
+constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
+
+struct NavModelState {
+  RunModel *m;
+  uint8_t net_input_buf[NAV_INPUT_SIZE];
+  float output[NAV_OUTPUT_SIZE];
+};
+
+void navmodel_init(NavModelState* s);
+NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
+void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
+void navmodel_free(NavModelState* s);

selfdrive/modeld/navmodeld

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ -f /TICI ]; then
+  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
+  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
+else
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
+fi
+exec ./_navmodeld

selfdrive/modeld/navmodeld.cc

@@ -0,0 +1,70 @@
+#include <sys/resource.h>
+#include <limits.h>
+
+#include <cstdio>
+#include <cstdlib>
+
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/modeld/models/nav.h"
+
+ExitHandler do_exit;
+
+void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
+  SubMaster sm({"navInstruction"});
+  PubMaster pm({"navModel"});
+
+  //double last_ts = 0;
+  //uint32_t last_frame_id = 0;
+  VisionIpcBufExtra extra = {};
+
+  while (!do_exit) {
+    VisionBuf *buf = vipc_client.recv(&extra);
+    if (buf == nullptr) continue;
+
+    sm.update(0);
+
+    double t1 = millis_since_boot();
+    NavModelResult *model_res = navmodel_eval_frame(&model, buf);
+    double t2 = millis_since_boot();
+
+    // send navmodel packet
+    navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
+
+    //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
+    //last_ts = t1;
+    //last_frame_id = extra.frame_id;
+  }
+}
+
+int main(int argc, char **argv) {
+  setpriority(PRIO_PROCESS, 0, -15);
+
+  // there exists a race condition when two processes try to create a
+  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  LOGW("waiting for dmonitoringmodeld to initialize");
+  if (!Params().getBool("DmModelInitialized", true)) {
+    return 0;
+  }
+
+  // init the models
+  NavModelState model;
+  navmodel_init(&model);
+  LOGW("models loaded, navmodeld starting");
+
+  VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
+  while (!do_exit && !vipc_client.connect(false)) {
+    util::sleep_for(100);
+  }
+
+  // run the models
+  if (vipc_client.connected) {
+    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
+    run_model(model, vipc_client);
+  }
+
+  navmodel_free(&model);
+  return 0;
+}

selfdrive/modeld/navmodeld.py

@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-import gc
-import math
-import time
-import ctypes
-import numpy as np
-from pathlib import Path
-from typing import Tuple, Dict
-
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
-from cereal.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.system.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.constants import IDX_N
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-
-NAV_INPUT_SIZE = 256*256
-NAV_FEATURE_LEN = 256
-NAV_DESIRE_LEN = 32
-NAV_OUTPUT_SIZE = 2*2*IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
-MODEL_PATHS = {
-  ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'}
-
-class NavModelOutputXY(ctypes.Structure):
-  _fields_ = [
-    ("x", ctypes.c_float),
-    ("y", ctypes.c_float)]
-
-class NavModelOutputPlan(ctypes.Structure):
-  _fields_ = [
-    ("mean", NavModelOutputXY*IDX_N),
-    ("std", NavModelOutputXY*IDX_N)]
-
-class NavModelResult(ctypes.Structure):
-  _fields_ = [
-    ("plan", NavModelOutputPlan),
-    ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN),
-    ("features", ctypes.c_float*NAV_FEATURE_LEN)]
-
-class ModelState:
-  inputs: Dict[str, np.ndarray]
-  output: np.ndarray
-  model: ModelRunner
-
-  def __init__(self):
-    assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {'map': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
-    self.model.addInput("map", None)
-
-  def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
-    self.inputs['map'][:] = buf
-
-    t1 = time.perf_counter()
-    self.model.setInputBuffer("map", self.inputs['map'].view(np.float32))
-    self.model.execute()
-    t2 = time.perf_counter()
-    return self.output, t2 - t1
-
-def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
-  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents
-  msg = messaging.new_message('navModel')
-  msg.valid = valid
-  msg.navModel.frameId = frame_id
-  msg.navModel.locationMonoTime = location_ts
-  msg.navModel.modelExecutionTime = execution_time
-  msg.navModel.dspExecutionTime = dsp_execution_time
-  msg.navModel.features = model_result.features[:]
-  msg.navModel.desirePrediction = model_result.desire_pred[:]
-  msg.navModel.position.x = [p.x for p in model_result.plan.mean]
-  msg.navModel.position.y = [p.y for p in model_result.plan.mean]
-  msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std]
-  msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std]
-  return msg
-
-
-def main():
-  gc.disable()
-  set_realtime_priority(1)
-
-  # there exists a race condition when two processes try to create a
-  # SNPE model runner at the same time, wait for dmonitoringmodeld to finish
-  cloudlog.warning("waiting for dmonitoringmodeld to initialize")
-  if not Params().get_bool("DmModelInitialized", True):
-    return
-
-  model = ModelState()
-  cloudlog.warning("models loaded, navmodeld starting")
-
-  vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
-  while not vipc_client.connect(False):
-    time.sleep(0.1)
-  assert vipc_client.is_connected()
-  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
-
-  sm = SubMaster(["navInstruction"])
-  pm = PubMaster(["navModel"])
-
-  while True:
-    buf = vipc_client.recv()
-    if buf is None:
-      continue
-
-    sm.update(0)
-    t1 = time.perf_counter()
-    model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset])
-    t2 = time.perf_counter()
-
-    valid = vipc_client.valid and sm.valid["navInstruction"]
-    pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
-
-
-if __name__ == "__main__":
-  main()

selfdrive/modeld/runners/run.h

@@ -2,3 +2,7 @@
 
 #include "selfdrive/modeld/runners/runmodel.h"
 #include "selfdrive/modeld/runners/snpemodel.h"
+
+#if defined(USE_ONNX_MODEL)
+#include "selfdrive/modeld/runners/onnxmodel.h"
+#endif

selfdrive/navd/navd.py

@@ -5,12 +5,14 @@ import os
 import threading
 
 import requests
+import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
+from openpilot.common.transformations.coordinates import ecef2geodetic
 from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
@@ -19,6 +21,7 @@ from openpilot.system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
+VALID_POS_STD = 50.0
 REROUTE_COUNTER_MIN = 3
 
 
@@ -76,13 +79,21 @@ class RouteEngine:
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
+    laikad = self.sm['gnssMeasurements']
 
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD
 
-    if self.localizer_valid:
+    self.localizer_valid = locationd_valid or laikad_valid
+    self.gps_ok = location.gpsOK or laikad_valid
+
+    if locationd_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+    elif laikad_valid:
+      geodetic = ecef2geodetic(laikad.positionECEF.value)
+      self.last_position = Coordinate(geodetic[0], geodetic[1])
+      self.last_bearing = None
 
   def recompute_route(self):
     if self.last_position is None:
@@ -346,7 +357,7 @@ class RouteEngine:
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
+    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
   if pm is None:
     pm = messaging.PubMaster(['navInstruction', 'navRoute'])
 

selfdrive/test/helpers.py

@@ -1,6 +1,9 @@
 import os
 import time
+import tempfile
+from typing import List, Union
 
+from unittest import mock
 from functools import wraps
 
 import cereal.messaging as messaging
@@ -69,3 +72,46 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
     return wrap
   return wrapper
+
+
+def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory):
+  """
+  mock_paths_in: string or string list representing the full path of the variable you want to mock.
+  kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory.
+  generator: a context to use to generate the temporary directory
+  """
+  def wrapper(func):
+    @wraps(func)
+    def wrap(*args, **kwargs):
+      mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in]
+      with generator() as temp_dir:
+        mocks = []
+        for mock_path in mock_paths:
+          mocks.append(mock.patch(mock_path, str(temp_dir)))
+        [mock.start() for mock in mocks]
+        try:
+          if kwarg is not None:
+            kwargs[kwarg] = temp_dir
+          func(*args, **kwargs)
+        finally:
+          [mock.stop() for mock in mocks]
+
+    return wrap
+  return wrapper
+
+def string_context(context):
+  class StringContext:
+    def __enter__(self):
+      return context
+
+    def __exit__(self, *args):
+      pass
+
+  return StringContext
+
+temporary_dir = temporary_mock_dir([], "temp_dir")
+temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
+temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir")
+temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER")
+temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"],
+                                           generator=string_context("/tmp/test_swaglog_ipc"))

selfdrive/test/process_replay/helpers.py

@@ -2,14 +2,13 @@ import os
 import shutil
 import uuid
 
-from typing import Optional
+from typing import List, Optional
 
 from openpilot.common.params import Params
-from openpilot.system.hardware.hw import Paths
 
-class OpenpilotPrefix:
+class OpenpilotPrefix(object):
   def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
+    self.prefix = prefix if prefix else str(uuid.uuid4())
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
 
@@ -19,17 +18,13 @@ class OpenpilotPrefix:
       os.mkdir(self.msgq_path)
     except FileExistsError:
       pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
 
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
     if self.clean_dirs_on_exit:
       self.clean_dirs()
-    try:
-      del os.environ['OPENPILOT_PREFIX']
-    except KeyError:
-      pass
+    del os.environ['OPENPILOT_PREFIX']
     return False
 
   def clean_dirs(self):
@@ -38,4 +33,17 @@ class OpenpilotPrefix:
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+
+
+class DummySocket:
+  def __init__(self):
+    self.data: List[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)

selfdrive/test/process_replay/process_replay.py

@@ -17,12 +17,12 @@ from cereal import car
 from cereal.services import service_list
 from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from openpilot.common.params import Params
-from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
@@ -33,18 +33,6 @@ NUMPY_TOLERANCE = 1e-7
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-class DummySocket:
-  def __init__(self):
-    self.data: List[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)
 
 class LauncherWithCapture:
   def __init__(self, capture: ProcessOutputCapture, launcher: Callable):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-98c21236f831ca3cff63939cb760b213460e84de
+20022e4a1b5f5df343465180a3865b0c78890544

selfdrive/test/process_replay/regen_all.py

@@ -6,7 +6,7 @@ import random
 import traceback
 from tqdm import tqdm
 
-from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from openpilot.selfdrive.test.process_replay.regen import regen_and_save
 from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
 from openpilot.tools.lib.route import SegmentName

selfdrive/test/pytest-ci.ini

@@ -0,0 +1,18 @@
+[pytest]
+testpaths = 
+    common
+    selfdrive/athena
+    selfdrive/boardd
+    selfdrive/car
+    selfdrive/controls
+    selfdrive/locationd
+    selfdrive/monitoring
+    selfdrive/thermald
+    selfdrive/test/longitudinal_maneuvers
+    system/hardware/tici
+    system/loggerd
+    system/tests
+    system/ubloxd
+    tools/lib/tests
+markers =
+    parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)

selfdrive/test/test_onroad.py

@@ -19,8 +19,8 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.loggerd.config import ROOT
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 
 # Baseline CPU usage by process
@@ -37,8 +37,8 @@ PROCS = {
   "./_sensord": 7.0,
   "selfdrive.controls.radard": 4.5,
   "selfdrive.modeld.modeld": 8.0,
-  "selfdrive.modeld.dmonitoringmodeld": 8.0,
-  "selfdrive.modeld.navmodeld": 1.0,
+  "./_dmonitoringmodeld": 5.0,
+  "./_navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -102,7 +102,7 @@ class TestOnroad(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     if "DEBUG" in os.environ:
-      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
       print(segs[-3])
       cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
@@ -115,8 +115,8 @@ class TestOnroad(unittest.TestCase):
     params.remove("CurrentRoute")
     set_params_enabled()
     os.environ['TESTING_CLOSET'] = '1'
-    if os.path.exists(Paths.log_root()):
-      shutil.rmtree(Paths.log_root())
+    if os.path.exists(ROOT):
+      shutil.rmtree(ROOT)
     os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
@@ -143,8 +143,8 @@ class TestOnroad(unittest.TestCase):
 
         while len(cls.segments) < 3:
           segs = set()
-          if Path(Paths.log_root()).exists():
-            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
+          if Path(ROOT).exists():
+            segs = set(Path(ROOT).glob(f"{route}--*"))
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
           time.sleep(2)
 

selfdrive/thermald/tests/test_power_monitoring.py

@@ -25,9 +25,12 @@ def pm_patch(name, value, constant=False):
 
 
 @patch("time.monotonic", new=mock_time_monotonic)
+@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y))
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
     self.params = Params()
+    self.params.remove("CarBatteryCapacity")
+    self.params.remove("DisablePowerDown")
 
   # Test to see that it doesn't do anything when pandaState is None
   def test_pandaState_present(self):

selfdrive/tombstoned.py

@@ -10,8 +10,8 @@ import glob
 from typing import NoReturn
 
 from openpilot.common.file_helpers import mkdirs_exists_ok
+from openpilot.system.loggerd.config import ROOT
 import openpilot.selfdrive.sentry as sentry
-from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit
 
@@ -130,7 +130,7 @@ def report_tombstone_apport(fn):
 
   new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
-  crashlog_dir = os.path.join(Paths.log_root(), "crash")
+  crashlog_dir = os.path.join(ROOT, "crash")
   mkdirs_exists_ok(crashlog_dir)
 
   # Files could be on different filesystems, copy, then delete

selfdrive/ui/qt/maps/map.cc

@@ -5,6 +5,7 @@
 
 #include <QDebug>
 
+#include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"

selfdrive/ui/qt/maps/map_helpers.cc

@@ -149,3 +149,8 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
                         : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
   }
 }
+
+double angle_difference(double angle1, double angle2) {
+  double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
+  return diff < -180.0 ? diff + 360.0 : diff;
+}

selfdrive/ui/qt/maps/map_helpers.h

@@ -29,3 +29,4 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCo
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
 std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param);
 std::pair<QString, QString> map_format_distance(float d, bool is_metric);
+double angle_difference(double angle1, double angle2);

selfdrive/ui/qt/onroad.cc

@@ -213,6 +213,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
   setFixedSize(btn_size, btn_size);
 
+  params = Params();
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);

selfdrive/ui/qt/widgets/cameraview.cc

@@ -207,9 +207,7 @@ void CameraWidget::updateFrameMat() {
 
   if (zoomed_view) {
     if (active_stream_type == VISION_STREAM_DRIVER) {
-      if (stream_width > 0 && stream_height > 0) {
-        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
-      }
+      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
     } else {
       // Project point at "infinity" to compute x and y offsets
       // to ensure this ends up in the middle of the screen

selfdrive/ui/qt/widgets/cameraview.h

@@ -65,7 +65,7 @@ protected:
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  mat4 frame_mat = {};
+  mat4 frame_mat;
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 

system/hardware/hw.h

@@ -14,37 +14,16 @@
 #endif
 
 namespace Path {
-  inline std::string openpilot_prefix() {
-    return util::getenv("OPENPILOT_PREFIX", "");
-  }
-
-  inline std::string comma_home() {
-    return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
-  }
-
-  inline std::string log_root() {
-    if (const char *env = getenv("LOG_ROOT")) {
-      return env;
-    }
-    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
-  }
-
-  inline std::string params() {
-    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
-  }
-
-  inline std::string rsa_file() {
-    return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
-  }
-  
-  inline std::string swaglog_ipc() {
-    return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
-  }
-
-  inline std::string download_cache_root() {
-    if (const char *env = getenv("COMMA_CACHE")) {
-      return env;
-    }
-    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
+inline std::string log_root() {
+  if (const char *env = getenv("LOG_ROOT")) {
+    return env;
   }
+  return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
+}
+inline std::string params() {
+  return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
+}
+inline std::string rsa_file() {
+  return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+}
 }  // namespace Path

system/hardware/hw.py

@@ -1,35 +0,0 @@
-import os
-from pathlib import Path
-
-from openpilot.selfdrive.hardware import PC
-
-class Paths:
-  @staticmethod
-  def comma_home() -> str:
-    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
-
-  @staticmethod
-  def log_root() -> str:
-    if os.environ.get('LOG_ROOT', False):
-      return os.environ['LOG_ROOT']
-    elif PC:
-      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
-    else:
-      return '/data/media/0/realdata/'
-
-  @staticmethod
-  def swaglog_root() -> str:
-    if PC:
-      return os.path.join(Paths.comma_home(), "log")
-    else:
-      return "/data/log/"
-
-  @staticmethod
-  def swaglog_ipc() -> str:
-    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
-
-  @staticmethod
-  def download_cache_root() -> str:
-    if os.environ.get('COMMA_CACHE', False):
-      return os.environ['COMMA_CACHE']
-    return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"

system/hardware/tici/amplifier.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import time
 from smbus2 import SMBus
 from collections import namedtuple