add fw for 2023

Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long
# Conflicts: # docs/CARS.md # panda
2026-06-19 16:52:06 +08:00 · 2023-09-08 01:55:38 -04:00 · 2023-09-08 01:15:07 -04:00 · 2023-09-07 21:44:58 -07:00 · 2023-09-07 20:40:25 -07:00 · 2023-09-07 19:46:43 -07:00
138 changed files with 887 additions and 1900 deletions
@@ -18,7 +18,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
    - name: Push badges
      run: |
        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
@@ -41,7 +41,7 @@ jobs:
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
    - 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
+    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot with all flags
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
      run: |
@@ -196,7 +196,7 @@ jobs:
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
      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
+    - uses: ./.github/workflows/setup-with-retry
    - 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
+    - uses: ./.github/workflows/setup-with-retry
    - 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 --rootdir . -c selfdrive/test/pytest-ci.ini && \
+                        $PYTEST -n auto --dist=loadscope --timeout 30 && \
                        selfdrive/locationd/test/_test_locationd_lib.py && \
                        ./system/ubloxd/tests/test_glonass_runner && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
@@ -273,7 +273,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v3
@@ -313,7 +313,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
    - name: Build base Docker image
      run: eval "$BUILD"
    - name: Build Docker image
@@ -349,7 +349,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
    - 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
+      - uses: ./.github/workflows/setup-with-retry
      - 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"
@@ -0,0 +1,39 @@
+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
@@ -5,10 +5,21 @@ 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: ${{ inputs.git_lfs == 'true' }}
@@ -33,11 +33,10 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot
      timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
    - name: Test PlotJuggler
      timeout-minutes: 2
      run: |
@@ -52,7 +51,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
    - name: Build base cl image
      run: eval "$BUILD_CL"
    - name: Setup to push to repo
@@ -72,7 +71,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
      with:
        git_lfs: false
    - name: Setup to push to repo
@@ -1,3 +1,4 @@
+exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
    hooks:
@@ -14,6 +15,8 @@ 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
@@ -80,3 +83,7 @@ repos:
        name: validate poetry lock
        args:
        - --check
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.26.3
+    hooks:
+    -   id: check-github-workflows
@@ -15,7 +15,11 @@ enum ParamKeyType {

 class Params {
 public:
-  Params(const std::string &path = {});
+  explicit Params(const std::string &path = {});
+  // Not copyable.
+  Params(const Params&) = delete;
+  Params& operator=(const Params&) = delete;
+
  std::vector<std::string> allKeys() const;
  bool checkKey(const std::string &key);
  ParamKeyType getKeyType(const std::string &key);
@@ -2,13 +2,14 @@ import os
 import shutil
 import uuid

-from typing import List, Optional
+from typing import Optional

 from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths

-class OpenpilotPrefix(object):
+class OpenpilotPrefix:
  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4())
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
    self.msgq_path = os.path.join('/dev/shm', self.prefix)
    self.clean_dirs_on_exit = clean_dirs_on_exit

@@ -18,13 +19,17 @@ class OpenpilotPrefix(object):
      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()
-    del os.environ['OPENPILOT_PREFIX']
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+    except KeyError:
+      pass
    return False

  def clean_dirs(self):
@@ -33,17 +38,4 @@ class OpenpilotPrefix(object):
      shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
      os.remove(symlink_path)
    shutil.rmtree(self.msgq_path, 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)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
@@ -20,7 +20,7 @@

 class SwaglogState : public LogState {
 public:
-  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
+  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}

  json11::Json::object ctx_j;

@@ -1,8 +1,6 @@
 import os
 import threading
 import time
-import tempfile
-import shutil
 import uuid
 import unittest

@@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no

 class TestParams(unittest.TestCase):
  def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    print("using", self.tmpdir)
-    self.params = Params(self.tmpdir)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
+    self.params = Params()

  def test_params_put_and_get(self):
    self.params.put("DongleId", "cb38263377b873ee")
@@ -90,19 +83,19 @@ class TestParams(unittest.TestCase):
    self.assertFalse(self.params.get_bool("IsMetric"))

  def test_put_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
    def _delayed_writer():
      time.sleep(0.1)
-      put_nonblocking("CarParams", "test", self.tmpdir)
+      put_nonblocking("CarParams", "test")
    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(self.tmpdir)
+    q = Params()
    def _delayed_writer():
      time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True, self.tmpdir)
+      put_bool_nonblocking("CarParams", True)
    threading.Thread(target=_delayed_writer).start()
    assert q.get("CarParams") is None
    assert q.get("CarParams", True) == b"1"
@@ -6,11 +6,18 @@
 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();
-    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
-    REQUIRE(lagged == false);
+    lags += lagged;
+    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
  }
+
+  // need a tolerance here due to scheduling
+  REQUIRE(lags < 5);
+  REQUIRE(bad_keep_times < 5);
 }
@@ -9,7 +9,6 @@
 #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;
@@ -25,7 +24,7 @@ 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, SWAGLOG_ADDR);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
  std::vector<int> thread_msgs(thread_cnt);
  int total_count = 0;

@@ -188,9 +188,9 @@ class LogState {
  void *zctx = nullptr;
  void *sock = nullptr;
  int print_level;
-  const char* endpoint;
+  std::string endpoint;

-  LogState(const char* _endpoint) {
+  LogState(std::string _endpoint) {
    endpoint = _endpoint;
  }

@@ -202,7 +202,7 @@ class LogState {
    int timeout = 100;
    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));

-    zmq_connect(sock, endpoint);
+    zmq_connect(sock, endpoint.c_str());
    initialized = true;
  }

@@ -0,0 +1,10 @@
+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
@@ -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)|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 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 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|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|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 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 (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)|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|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |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>||
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.

 [[package]]
 name = "aiohttp"
@@ -2766,7 +2766,14 @@ files = [
 ]

 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+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\""},
+]

 [[package]]
 name = "opencv-python-headless"
@@ -2785,7 +2792,14 @@ files = [
 ]

 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+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\""},
+]

 [[package]]
 name = "packaging"
@@ -5035,4 +5049,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "949a4c853db95a61159dc93c05d42d78a334b08f0f62b74587d77a348db9cf23"
+content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1"
@@ -1,11 +1,27 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
 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"
@@ -112,7 +128,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" }
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -209,6 +209,7 @@ 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
@@ -360,12 +361,10 @@ selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.py
-selfdrive/modeld/navmodeld.cc
-selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/navmodeld.py
+selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/navmodeld
-selfdrive/modeld/dmonitoringmodeld

 selfdrive/modeld/models/__init__.py
 selfdrive/modeld/models/*.pxd
@@ -378,12 +377,8 @@ 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
@@ -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 SWAGLOG_DIR, cloudlog
+from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from selfdrive.hardware.hw import Paths


 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -119,12 +119,11 @@ class AbortTransferException(Exception):


 class UploadQueueCache:
-  params = Params()

  @staticmethod
  def initialize(upload_queue: Queue[UploadItem]) -> None:
    try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = 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))
@@ -136,7 +135,7 @@ 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)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.cache.exception")

@@ -352,7 +351,7 @@ 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, ROOT)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
      if e.is_dir(follow_symlinks=False):
        # add trailing slash
        rel_path = os.path.join(rel_path, '')
@@ -367,7 +366,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:

@dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(ROOT, prefix)
+  return scan_dir(Paths.log_root(), prefix)


@dispatcher.add_method
@@ -408,7 +407,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
      failed.append(file.fn)
      continue

-    path = os.path.join(ROOT, file.fn)
+    path = os.path.join(Paths.log_root(), file.fn)
    if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
      failed.append(file.fn)
      continue
@@ -572,8 +571,8 @@ 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(SWAGLOG_DIR):
-    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+  for log_entry in os.listdir(Paths.swaglog_root()):
+    log_path = os.path.join(Paths.swaglog_root(), log_entry)
    time_sent = 0
    try:
      value = getxattr(log_path, LOG_ATTR_NAME)
@@ -608,7 +607,7 @@ 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(SWAGLOG_DIR, log_entry)
+          log_path = os.path.join(Paths.swaglog_root(), log_entry)
          setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
          with open(log_path) as f:
            jsonrpc = {
@@ -635,7 +634,7 @@ 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(SWAGLOG_DIR, log_entry)
+            log_path = os.path.join(Paths.swaglog_root(), log_entry)
            try:
              setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
            except OSError:
@@ -3,7 +3,6 @@ import json
 import os
 import requests
 import shutil
-import tempfile
 import time
 import threading
 import queue
@@ -18,11 +17,11 @@ 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):
@@ -30,8 +29,6 @@ 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}

@@ -41,8 +38,8 @@ class TestAthenadMethods(unittest.TestCase):
    athenad.cur_upload_items.clear()
    athenad.cancelled_uploads.clear()

-    for i in os.listdir(athenad.ROOT):
-      p = os.path.join(athenad.ROOT, i)
+    for i in os.listdir(Paths.log_root()):
+      p = os.path.join(Paths.log_root(), i)
      if os.path.isdir(p):
        shutil.rmtree(p)
      else:
@@ -61,7 +58,7 @@ class TestAthenadMethods(unittest.TestCase):

  @staticmethod
  def _create_file(file: str, parent: Optional[str] = None) -> str:
-    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+    fn = os.path.join(Paths.log_root() if parent is None else parent, file)
    os.makedirs(os.path.dirname(fn), exist_ok=True)
    Path(fn).touch()
    return fn
@@ -418,7 +415,7 @@ class TestAthenadMethods(unittest.TestCase):
    fl = list()
    for i in range(10):
      file = f'swaglog.{i:010}'
-      self._create_file(file, athenad.SWAGLOG_DIR)
+      self._create_file(file, Paths.swaglog_root())
      fl.append(file)

    # ensure the list is all logs except most recent
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 from cereal import car
 from openpilot.common.realtime import DT_CTRL
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase

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

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
@@ -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
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR

 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -91,7 +91,8 @@ 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.openpilotLongitudinalControl:
+    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:
      # for longitudinal control, either radar or ADAS driving ECU
      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@@ -146,7 +147,7 @@ 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),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), CS, self.CP.carFingerprint,
                                                        hud_control.leadVisible, set_speed_in_units, stopping,
                                                        CC.cruiseControl.override, use_fca))

@@ -156,7 +157,7 @@ class CarController:

      # 5 Hz ACC options
      if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, CS, self.CP.carFingerprint))

      # 2 Hz front radar options
      if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
@@ -156,6 +156,10 @@ 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"])
@@ -296,14 +300,21 @@ class CarState(CarStateBase):
      ("LKAS11", 100)
    ]

-    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
-      messages += [
-        ("SCC11", 50),
-        ("SCC12", 50),
-      ]
+    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 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)

@@ -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, lead_visible, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, CS, car_fingerprint, lead_visible, set_speed, stopping, long_override, use_fca):
  commands = []

  scc11_values = {
@@ -172,21 +172,27 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s

  # Only send FCA11 on cars where it exists on the bus
  if use_fca:
-    # 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
-    }
+    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
+      }
    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):
+def create_acc_opt(packer, CS, car_fingerprint):
  commands = []

  scc13_values = {
@@ -197,10 +203,15 @@ def create_acc_opt(packer):
  commands.append(packer.make_can_msg("SCC13", 0, scc13_values))

  # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
+  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
+    }
  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))

  return commands
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
@@ -253,7 +252,7 @@ class CarInterface(CarInterfaceBase):
    else:
      ret.longitudinalTuning.kpV = [0.5]
      ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
    ret.pcmCruise = not ret.openpilotLongitudinalControl

@@ -312,7 +311,8 @@ class CarInterface(CarInterfaceBase):

  @staticmethod
  def init(CP, logcan, sendcan):
-    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
+    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and \
+      CP.carFingerprint not in CAMERA_SCC_CAR:
      addr, bus = 0x7d0, 0
      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, CanBus(CP).ECAN
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math

 from cereal import car
@@ -576,11 +576,13 @@ 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',
@@ -593,6 +595,7 @@ 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: {
@@ -1411,10 +1414,7 @@ FW_VERSIONS = {
      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
      b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      # 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',
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
    ],
    (Ecu.fwdCamera, 0x7C4, None): [
      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1422,12 +1422,14 @@ FW_VERSIONS = {
      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
      b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
    ],
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
    ],
    (Ecu.fwdRadar, 0x7D0, None): [
      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
@@ -1976,8 +1978,8 @@ 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.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,
+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,
                          CAR.KIA_OPTIMA_H}

 # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
@@ -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 = 1 # EPS is on alternate bus
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
      ret.mass = 1492
      ret.wheelbase = 2.824
      ret.centerToFront = ret.wheelbase * 0.44
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase

 class RadarInterface(RadarInterfaceBase):
@@ -1,8 +1,13 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
+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


 class CarController:
@@ -12,6 +17,7 @@ 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'])
@@ -38,7 +44,15 @@ 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:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
+        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))

      self.apply_steer_last = apply_steer

@@ -80,29 +94,30 @@ class CarController:

    else:
      if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
                                                        CC.longActive, hud_control.leadVisible))

-        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, 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, CS.es_infotainment_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, 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, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+          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_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
+          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_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
+          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, 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, bus, pcm_cancel_cmd))
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))

    new_actuators = actuators.copy()
    new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase

 class RadarInterface(RadarInterfaceBase):
@@ -16,10 +16,9 @@ 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, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+def create_es_distance(packer, frame, 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",
@@ -39,7 +38,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
    "Cruise_Resume",
    "Signal6",
  ]}
-  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
+
+  values["COUNTER"] = frame % 0x10

  if long_enabled:
    values["Cruise_Throttle"] = cruise_throttle
@@ -57,10 +57,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
  return packer.make_can_msg("ES_Distance", bus, values)


-def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, frame, 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",
@@ -77,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
    "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
@@ -119,10 +120,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_

  return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)

-def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
+def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
  values = {s: dashstatus_msg[s] for s in [
    "CHECKSUM",
-    "COUNTER",
    "PCB_Off",
    "LDW_Off",
    "Signal1",
@@ -150,6 +150,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
    "Cruise_State",
  ]}

+  values["COUNTER"] = frame % 0x10
+
  if enabled and long_active:
    values["Cruise_State"] = 0
    values["Cruise_Activated"] = 1
@@ -165,10 +167,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act

  return packer.make_can_msg("ES_DashStatus", CanBus.main, values)

-def create_es_brake(packer, es_brake_msg, enabled, brake_value):
+def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
  values = {s: es_brake_msg[s] for s in [
    "CHECKSUM",
-    "COUNTER",
    "Signal1",
    "Brake_Pressure",
    "AEB_Status",
@@ -179,6 +180,8 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
    "Signal3",
  ]}

+  values["COUNTER"] = frame % 0x10
+
  if enabled:
    values["Cruise_Activated"] = 1

@@ -190,10 +193,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):

  return packer.make_can_msg("ES_Brake", CanBus.main, values)

-def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
+def create_es_status(packer, frame, 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",
@@ -204,6 +206,8 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
    "Signal3",
  ]}

+  values["COUNTER"] = frame % 0x10
+
  if long_enabled:
    values["Cruise_RPM"] = cruise_rpm

@@ -213,16 +217,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
  return packer.make_can_msg("ES_Status", CanBus.main, values)


-def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
+def create_es_infotainment(packer, frame, 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

@@ -707,3 +707,7 @@ 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}
@@ -126,9 +126,11 @@ 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),
@@ -166,6 +168,7 @@ 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),
@@ -241,6 +244,7 @@ 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),
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import random
 import time
 import unittest
@@ -224,6 +225,7 @@ 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 = {
@@ -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 CAR_MODELS])
+@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
 class TestLateralLimits(unittest.TestCase):
  car_model: str

@@ -24,6 +24,7 @@ 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"))
@@ -70,6 +71,7 @@ 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
@@ -105,6 +107,7 @@ class TestCarModelBase(unittest.TestCase):

      car_fw = []
      can_msgs = []
+      cls.elm_frame = None
      fingerprint = defaultdict(dict)
      experimental_long = False
      enabled_toggle = True
@@ -130,6 +133,16 @@ 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:
@@ -204,8 +217,10 @@ 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):
+    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
      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
@@ -238,9 +253,9 @@ 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 for reasonable fingerprinting time
-          # TODO: detect when relay has flipped to properly check relay malfunction
-          if self.openpilot_enabled and t > 5e6:
+          # 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):
            self.assertFalse(self.safety.get_relay_malfunction())
          else:
            self.safety.set_relay_malfunction(False)
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda import Panda
@@ -205,7 +204,8 @@ 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
-    if 0x2FF in fingerprint[0]:
+    # 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):
      ret.flags |= ToyotaFlags.SMART_DSU.value

    # No radar dbc for cars without DSU which are not TSS 2.0
@@ -219,13 +219,14 @@ 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 radar-based ACC cars, gate longitudinal behind experimental toggle
+    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
-    if candidate in RADAR_ACC_CAR:
+    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
      ret.experimentalLongitudinalAvailable = use_sdsu

      if not use_sdsu:
-        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+        # 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
          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
      else:
        use_sdsu = use_sdsu and experimental_long
@@ -237,6 +238,7 @@ 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

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

 class RadarInterface(RadarInterfaceBase):
@@ -381,6 +381,8 @@ 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:
@@ -420,8 +422,6 @@ 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"""
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import math
 import os
 from enum import IntEnum
@@ -575,11 +576,9 @@ 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.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"),
+    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
+    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
  },

  # ********** events that affect controls state transitions **********
@@ -50,7 +50,8 @@ class KalmanParams:


 class Track:
-  def __init__(self, v_lead: float, kalman_params: KalmanParams):
+  def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
+    self.identifier = identifier
    self.cnt = 0
    self.aLeadTau = _LEAD_ACCEL_TAU
    self.K_A = kalman_params.A
@@ -98,11 +99,12 @@ 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,
-      "aLeadTau": float(self.aLeadTau)
+      "radarTrackId": self.identifier,
    }

  def potential_low_speed_lead(self, v_ego: float):
@@ -158,8 +160,9 @@ 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,
-    "status": True
+    "radarTrackId": -1,
  }


@@ -237,7 +240,7 @@ 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(v_lead, self.kalman_params)
+        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])

    # *** publish radarState ***
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import itertools
 import numpy as np
 import unittest

@@ -31,21 +32,19 @@ 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()
-    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)
+    params.put("LongitudinalPersonality", str(self.personality))
+    print(f'Testing {self.speed} m/s')
+    cruise_speed = float(self.speed)

-          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')
+    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')


 # TODO: test pcmCruise
@@ -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=DOWNLOADS_CACHE_FOLDER)
+                              clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
    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(DOWNLOADS_CACHE_FOLDER):
-    shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
-  os.mkdir(DOWNLOADS_CACHE_FOLDER)
+  if os.path.exists(Paths.download_cache_root()):
+    shutil.rmtree(Paths.download_cache_root())
+  os.mkdir(Paths.download_cache_root())


 def main(sm=None, pm=None):
@@ -21,9 +21,11 @@ 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 = 5.0; // same as reset tracker
-const double DECAY = 0.99995; // same as reset tracker
+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 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
@@ -256,7 +258,13 @@ 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]);
-    if (meas.norm() < ROTATION_SANITY_CHECK) {
+
+    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) {
      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
      this->observation_values_invalid["gyroscope"] *= DECAY;
    } else {
@@ -483,6 +491,7 @@ 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) {
@@ -538,7 +547,7 @@ 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 *= DECAY;
+    this->reset_tracker *= RESET_TRACKER_DECAY;
  } else {
    this->reset_tracker = 0.0;
  }
@@ -94,6 +94,7 @@ 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);
 };
@@ -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)
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
    time.sleep(1)  # wait for async params write

    lastGPS = json.loads(self.params.get('LastGPSPosition'))
@@ -52,13 +52,13 @@ procs = [
  PythonProcess("micd", "system.micd", iscar),
  PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),

-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("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),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
+  PythonProcess("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),
@@ -32,12 +32,6 @@ 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):
@@ -60,20 +54,6 @@ 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
@@ -1,12 +0,0 @@
-#!/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
@@ -1,69 +0,0 @@
-#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;
-}
@@ -0,0 +1,157 @@
+#!/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()
@@ -1,133 +0,0 @@
-#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;
-}
@@ -1,50 +0,0 @@
-#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);
-
@@ -6,13 +6,16 @@
 #include "cereal/messaging/messaging.h"
 #include "common/modeldata.h"
 #include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.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;

@@ -1,71 +0,0 @@
-#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;
-}
@@ -1,57 +0,0 @@
-#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);
@@ -1,12 +0,0 @@
-#!/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
@@ -1,70 +0,0 @@
-#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;
-}
@@ -0,0 +1,118 @@
+#!/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()
@@ -2,7 +2,3 @@

 #include "selfdrive/modeld/runners/runmodel.h"
 #include "selfdrive/modeld/runners/snpemodel.h"
-
-#if defined(USE_ONNX_MODEL)
-#include "selfdrive/modeld/runners/onnxmodel.h"
-#endif
@@ -5,14 +5,12 @@ 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,
@@ -21,7 +19,6 @@ from openpilot.system.swaglog import cloudlog

 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
-VALID_POS_STD = 50.0
 REROUTE_COUNTER_MIN = 3


@@ -79,21 +76,13 @@ class RouteEngine:

  def update_location(self):
    location = self.sm['liveLocationKalman']
-    laikad = self.sm['gnssMeasurements']
+    self.gps_ok = location.gpsOK

-    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
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid

-    self.localizer_valid = locationd_valid or laikad_valid
-    self.gps_ok = location.gpsOK or laikad_valid
-
-    if locationd_valid:
+    if self.localizer_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:
@@ -357,7 +346,7 @@ class RouteEngine:

 def main(sm=None, pm=None):
  if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
+    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
  if pm is None:
    pm = messaging.PubMaster(['navInstruction', 'navRoute'])

@@ -1,9 +1,6 @@
 import os
 import time
-import tempfile
-from typing import List, Union

-from unittest import mock
 from functools import wraps

 import cereal.messaging as messaging
@@ -72,46 +69,3 @@ 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"))
@@ -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
@@ -33,6 +33,18 @@ 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):
@@ -1 +1 @@
-20022e4a1b5f5df343465180a3865b0c78890544
+98c21236f831ca3cff63939cb760b213460e84de
@@ -6,7 +6,7 @@ import random
 import traceback
 from tqdm import tqdm

-from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from openpilot.common.prefix 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
@@ -1,18 +0,0 @@
-[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)
@@ -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,
-  "./_dmonitoringmodeld": 5.0,
-  "./_navmodeld": 1.0,
+  "selfdrive.modeld.dmonitoringmodeld": 8.0,
+  "selfdrive.modeld.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(ROOT).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_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(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_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(ROOT).exists():
-            segs = set(Path(ROOT).glob(f"{route}--*"))
+          if Path(Paths.log_root()).exists():
+            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
          cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
          time.sleep(2)

@@ -25,12 +25,9 @@ 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):
@@ -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(ROOT, "crash")
+  crashlog_dir = os.path.join(Paths.log_root(), "crash")
  mkdirs_exists_ok(crashlog_dir)

  # Files could be on different filesystems, copy, then delete
@@ -5,7 +5,6 @@

 #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"
@@ -149,8 +149,3 @@ 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;
-}
@@ -29,4 +29,3 @@ 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);
@@ -213,7 +213,6 @@ 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);
@@ -207,7 +207,9 @@ void CameraWidget::updateFrameMat() {

  if (zoomed_view) {
    if (active_stream_type == VISION_STREAM_DRIVER) {
-      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+      if (stream_width > 0 && stream_height > 0) {
+        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
@@ -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");

@@ -14,16 +14,37 @@
 #endif

 namespace Path {
-inline std::string log_root() {
-  if (const char *env = getenv("LOG_ROOT")) {
-    return env;
+  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() + "/";
  }
-  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
@@ -0,0 +1,35 @@
+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", "") + "/"
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import time
 from smbus2 import SMBus
 from collections import namedtuple
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jason Wen	369a1cf946	add fw for 2023	2023-09-08 01:55:38 -04:00
Jason Wen	81c18469cf	Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long # Conflicts: # docs/CARS.md # panda	2023-09-08 01:15:07 -04:00
Dean Lee	7816edda57	common/params: not copyable (#29834 )	2023-09-07 21:44:58 -07:00
Adeeb Shihadeh	0d042624ae	Revert "add pytest-cpp package (#29828 )" This reverts commit `773d0944d8`.	2023-09-07 20:40:25 -07:00
Mitchell Goff	503fa121ee	Rewrite dmonitoringmodeld in python (#29740 ) * Added dmonitoringmodeld.py * Removed dmonitoringmodeld.cc * Use ModelRunner helpers from runners/__init__.py * Fixed DriverStateResult field ordering * Some bug fixes * Set calib input * Look ma, no loop! * Bump dmonitoringmodeld cpu usage in test_onroad * Fixed memory leak caused by np.ctypes.data_as * Formatting fixes * chmod +x * remove USE_ONNX_MODEL * Realtime priority 1, formatting fixes	2023-09-07 19:46:43 -07:00
Adeeb Shihadeh	773d0944d8	add pytest-cpp package (#29828 ) * add pytest-cpp package * disable for now	2023-09-07 19:42:30 -07:00
Adeeb Shihadeh	4111ac36b2	ubloxd: remove unused file (#29829 )	2023-09-07 19:29:34 -07:00
Shane Smiskol	b822a57ed6	Hyundai: remove bad Kona EV 2022 query responses	2023-09-07 19:24:19 -07:00
Justin Newberry	b0a71d4553	Pytest: enforce a default timeout (#29793 ) * pytest: enforce default timeout * disable that for now * 30 second timeout on tests	2023-09-07 17:53:51 -07:00
Adeeb Shihadeh	f197decbc9	fix RateKeeper test	2023-09-07 16:47:33 -07:00
Justin Newberry	dde225221e	CI: run unittests in parallel with xdist (#29756 ) * parallel tests * review suggesions * add to pyproject * add a bit more buffer on that * fix rare athena issue * remove from pypoetry	2023-09-07 16:29:36 -07:00
Justin Newberry	fb06b98667	Subaru: remove 2020+ temporary steering faults (#29116 ) * subaru steer faults * it takes a bool now * Update selfdrive/car/subaru/carcontroller.py Co-authored-by: Shane Smiskol <shane@smiskol.com> * that was removed * should be abs * bump panda * bump panda * subaru faults * add fixme Co-authored-by: Shane Smiskol <shane@smiskol.com> * review suggestions * still want zero steer when lat not active * bump submodules * move it under the non-preglobal section * better comment for steer limited Co-authored-by: Shane Smiskol <shane@smiskol.com> --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2023-09-07 15:28:46 -07:00
Mitchell Goff	0c0af682a1	Rewrite navmodeld in python (#29579 ) * Added navmodeld.py * Deleted navmodeld.cc * Write SConscript config flags to config.py * Remove deleted files from release/files_common * Some more bug fixes * Added config.py to gitignore * Get rid of config.py * Use set_realtime_priority * A tiny bit more cleanup * set realtime priority 1 * Use ModelRunner helper class from runners/__init__.py * Formatting fixes * mama mia that's a SPICY memory leak	2023-09-07 14:39:37 -07:00
Justin Newberry	73eda51a11	System: use paths for download folders too (#29818 ) * use paths for download folders too * trailing slash * reset that	2023-09-07 12:49:03 -07:00
Justin Newberry	bfe990b112	System: cleanup paths to use a common class (#29816 ) * use OP prefix for logmessage * cleanup paths too * cleanup the paths too * add hw.py to release * fix those issues * fix unittests * fix unittests * fix unittests * do swaglog_ipc properly across all the files * fix that * fix swaglog in c++ * review suggestions	2023-09-07 11:32:47 -07:00
Dean Lee	74daab120d	cabana: speed up exit (#29813 )	2023-09-07 11:30:53 -07:00
Kacper Rączy	0267e0500c	radard: expose radarTrackId for radar leads (#29809 ) * Add radarState track identifier for debugging purposes * update process replay ref	2023-09-07 11:24:54 -07:00
Dean Lee	0f942a228d	cabana: regenerate car_fingerprint_to_dbc when DBC files change (#29815 )	2023-09-07 11:22:03 -07:00
Justin Newberry	8fd4e1a7a7	bump panda (#29814 )	2023-09-07 10:22:07 -07:00
Vivek Aithal	dbada885ac	locationd: Add camera-IMU cross-checks (#29727 ) * camera-gyro cross checks, but one way * increase factor to account for gyro noise (potholes, bad roads etc * increase factor to reduce FP with device taps, bad roads, etc * factor to 30 * add inputsok to sensoir data invalid alert * bugfix * move the sensors check * add localizer catchall alert * update refcommit * remove permanent alert * revert sensorDataInvalid alert change, split into new PR	2023-09-06 21:01:01 -07:00
Justin Newberry	338288df6e	Subaru: don't copy eyesight counters, calculate manually (#29533 ) * subaru manual counters * update ref * that isn't used * review suggestions	2023-09-06 16:08:59 -07:00
Shane Smiskol	96fd66e4e2	navd: locationd is only trusted source (#29803 ) * finish revert for https://github.com/commaai/openpilot/pull/27579 * comment out * clean up	2023-09-06 15:47:21 -07:00
Adeeb Shihadeh	ec479322d3	Revert "params: safe and efficient async writing parameters (#25912 )" This reverts commit `0d797f4e8b`.	2023-09-06 13:44:20 -07:00
Dean Lee	a1306114bc	ui/CameraView: fix divide by zero issue (#29770 )	2023-09-06 13:25:40 -07:00
Kacper Rączy	2487db14b0	disable metadrive on linux/aarch64 (#29802 )	2023-09-06 21:29:36 +02:00
Justin Newberry	917f71d446	CI: retry setup on failure (#29785 ) * try a setup action * should be uses * fix that formatting * try conclusion * continue on error * try without hyphens * only when failure * make it optional * continue on error * those don't fail anymore * what about 3 failures * remove stuff for debugging * cleanup * review suggestions * change that too * fix pj	2023-09-06 11:11:15 -07:00
Justin Newberry	d3c5ac5545	Precommit: do a sanity check on github workflows (#29790 ) * sanity check on github actions * That one doesn’t apply to us	2023-09-06 10:40:52 -07:00
Dean Lee	7f23e69cb1	cabana: fix stuck on exit (#29796 ) fix ctrl+c can't exit when stream dialog displayed on startup	2023-09-06 10:34:15 -07:00
Dean Lee	bbf133a2e5	replay: fix concurrency issues (#29797 ) fix concurrency issues	2023-09-06 10:34:01 -07:00
Dean Lee	60593660e6	cabana: add empty check before insert events (#29798 )	2023-09-06 10:24:58 -07:00
Igor Biletksyy	001df43194	bump panda	2023-09-06 10:00:36 -07:00
Justin Newberry	ec945dc53d	Subaru: add GEN1 longitudinal test route (#29753 ) * add long route * fix duplicates * need to bump that slightly up * commented for now Co-authored-by: Shane Smiskol <shane@smiskol.com> --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2023-09-06 09:26:16 -07:00
Dean Lee	0d797f4e8b	params: safe and efficient async writing parameters (#25912 ) * Safe and efficient asynchronous writing parameters * call putNonBlocking in locationd * remove space * ->AsyncWriter * remove semicolon * use member function * asyc write multiple times * add test case for AsyncWriter * merge master * add missing include * public * cleanup * create once * cleanup * update that * explicit waiting * improve test case --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2023-09-06 08:50:28 -07:00
Dean Lee	0afcf12368	cabana: fix crash when no can events in the log (#29795 ) fix crash when no events	2023-09-06 02:36:07 -07:00
Eric Day	89d6bc6c7b	Toyota: detect TSS-P CAN filter device as smartDsu to enable long (#28387 ) * detect tss-p canfilter device as smartDsu to enable long * Add canfilter test case * add comment, behind alpha long * add doc * safe * update check * cmt --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2023-09-06 01:36:16 -07:00
Shane Smiskol	2c87cd24ce	PlotJuggler: add control gains to longitudinal layout (#29794 ) * add longitudinal control gains to long layout * needless changes * needless changes * needless changes	2023-09-06 01:33:52 -07:00
Jason Wen	d7d751160d	Nissan Altima: specify panda flag for alternate EPS bus (#29783 ) * Nissan Altima: Specify panda flag for alt bus safety config * bump --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2023-09-06 00:48:17 -07:00
Jason Wen	a552fafd88	Hyundai longitudinal: enable for `IONIQ_PHEV` (#29777 ) * Hyundai longitudinal: enable for `IONIQ_PHEV` * add test route	2023-09-06 00:05:44 -07:00
DevTekVE	77f050bb4c	Hyundai: Ioniq 2020 PHEV EUR fingerprint (#29775 )	2023-09-06 00:04:31 -07:00
Shane Smiskol	5d1550de87	test_models: detect when OBD multiplexing/fingerprinting (#29759 ) * wait to leave elm mode before checking relay malfunction * clean up * clean up * pycharm is best * clean up * more * use pandaStatesDEPRECATED * fix * use constant * only radar * cmt * set inline * comment and re-arrange * enable for relay malfunc check * down here * Update selfdrive/car/tests/test_models.py * rm * don't affect other tests * up here * one line * update cmt * no tolerance * Revert "no tolerance" This reverts commit 41b1c7e8beda87a878c3bb1f37ec96b256965966. * comment is real solution --------- Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>	2023-09-05 21:22:36 -07:00
Adeeb Shihadeh	7b6afbc162	pytest: use a clean environment for all tests (#29788 ) * pytest: use a clean environment for all tests * rm that * fix pj * put build back * fix params * fix that * handle no key * that was removed --------- Co-authored-by: Justin Newberry <justin@comma.ai>	2023-09-05 18:52:40 -07:00
Justin Newberry	4e69937d0d	Precommit: ensure executable bit is set (#29784 ) * precommit ensure executable * exclude tinygrad * bump submodules * exclude tinygrad globally	2023-09-05 16:33:26 -07:00
Shane Smiskol	22487db9c8	bump panda (#29786 ) bump	2023-09-05 16:01:28 -07:00
Adeeb Shihadeh	0908be80bd	sensord: test updates for provisioning (#29768 ) * sensord: test updates for provisioning * fix --------- Co-authored-by: Comma Device <device@comma.ai>	2023-09-05 15:32:57 -07:00
Jason Wen	a0b49d5422	Hyundai longitudinal: enable for `IONIQ` (#29778 ) * Hyundai longitudinal: enable for `IONIQ` * add test route	2023-09-05 14:15:18 -07:00
Justin Newberry	16c99e3e7f	Pytest: don't rerun cereal unittests (#29781 ) pytest don't rerun cereal	2023-09-05 14:06:03 -07:00
Justin Newberry	dcea56bcf3	Tests: speedup locationd (#29776 ) * speedup locationd * bump cereal	2023-09-05 12:45:18 -07:00
Jason Wen	24feed4b1a	Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long # Conflicts: # panda # selfdrive/car/hyundai/carcontroller.py # selfdrive/car/hyundai/hyundaican.py # selfdrive/car/hyundai/interface.py	2023-08-28 10:53:48 -04:00
Jason Wen	0fd3fac0e9	Regenerate CARS.md	2023-08-15 01:08:30 -04:00
Jason Wen	74e6deb211	Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long # Conflicts: # docs/CARS.md # panda # selfdrive/car/hyundai/carstate.py	2023-08-15 01:06:53 -04:00
Jason Wen	739c645b13	missed SCC msgs	2023-06-13 12:51:40 -04:00
Jason Wen	cac0aca860	gate all behind camera SCC cars when using OP long	2023-06-13 12:48:57 -04:00
Jason Wen	b1975b5dec	Merge remote-tracking branch 'upstream/master' into camera-scc-long # Conflicts: # panda # selfdrive/car/hyundai/carcontroller.py	2023-04-25 17:08:50 -04:00
Jason Wen	b6d9a0dc01	Merge remote-tracking branch 'upstream/master' into camera-scc-long # Conflicts: # docs/CARS.md # panda # selfdrive/car/hyundai/carcontroller.py # selfdrive/car/hyundai/interface.py	2023-03-26 20:39:23 -04:00
Jason Wen	711a1b8bed	Merge remote-tracking branch 'upstream/master' into camera-scc-long	2022-10-19 10:51:19 -04:00
Jason Wen	c47f084b9d	bump submodules	2022-10-19 10:50:20 -04:00
Jason Wen	e5ecf0a9d4	Show openpilot longitudinal in car docs	2022-10-19 10:48:53 -04:00
Jason Wen	9a83eb772c	Forward modified FCA11 and FCA12 messages	2022-10-15 18:57:20 -04:00
Jason Wen	5ca5939818	CLU11 is on bus 0	2022-10-15 17:10:56 -04:00
Jason Wen	2343e05339	Update comment	2022-10-15 16:43:02 -04:00
Jason Wen	1553900777	Hyundai: Longitudinal support for Camera SCC cars (CAN for now)	2022-10-15 16:24:54 -04:00