Tools: Update setup command for macOS native setup

* test

* not replay

* up

* text

* text

* fix

* no

* commit

* clean

.devcontainer/.gitignore

@@ -1,3 +0,0 @@
-.Xauthority
-.env
-.host/

.devcontainer/Dockerfile

@@ -1,18 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN python3 -m ensurepip --upgrade
-RUN pip3 install ipython jupyter jupyterlab
-
-RUN cd /tmp && \
-    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
-    dpkg -i virtualgl.deb
-
-RUN usermod -aG video batman
-
-USER batman
-
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-
-TARGET_USER=batman
-source .devcontainer/.host/.env
-
-# override display flag for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up DISPLAY override for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-source .devcontainer/.host/.env
-if [ -n "\$HOST_DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
-  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
-fi
-EOF
-fi
-
-# setup virtualgl for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up virtualgl for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$HOST_DISPLAY" ]; then
-  export VGL_PORT=10000
-  export VGL_CLIENT=host.docker.internal
-  export VGL_COMPRESS=rgb
-  export VGL_DISPLAY=:99
-  export VGL_FPS=60
-  # prevent vglrun from running exec
-  alias exec=:; source vglrun :; unalias exec
-fi
-EOF
-fi
-
-# These lines are temporary, to remain backwards compatible with old devcontainers
-# that were running as root and therefore had their caches written as root
-sudo chown -R $TARGET_USER: /tmp/scons_cache
-sudo chown -R $TARGET_USER: /tmp/comma_download_cache
-sudo chown -R $TARGET_USER: /home/batman/.comma

.devcontainer/container_post_start.sh

@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-source .devcontainer/.host/.env
-
-# setup safe directories for submodules
-SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
-for DIR in $SUBMODULE_DIRS; do 
-  git config --global --add safe.directory "$PWD/$DIR"
-done
-
-# virtual display for virtualgl
-if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
-  echo "Starting virtual display at :99 ..."
-  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
-fi

.devcontainer/devcontainer.json

@@ -1,53 +0,0 @@
-{
-  "name": "openpilot devcontainer",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "postCreateCommand": ".devcontainer/container_post_create.sh",
-  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": [".devcontainer/host_setup"],
-  "privileged": true,
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "PYTHONPATH": "${containerWorkspaceFolder}",
-    "TERM": "xterm-256color",
-    "force_color_prompt": "1"
-  },
-  "runArgs": [
-    "--volume=/dev:/dev",
-    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
-    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
-    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
-    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
-  ],
-  "features": {
-    "ghcr.io/devcontainers/features/common-utils:2": {
-      "installZsh": false,
-      "installOhMyZsh": false,
-      "upgradePackages": false,
-      "username": "batman"
-    },
-    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
-    "ghcr.io/devcontainers/features/azure-cli:1": {}
-  },
-  "containerUser": "batman",
-  "remoteUser": "batman",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-toolsai.jupyter",
-        "guyskk.language-cython",
-        "lharri73.dbc"
-      ]
-    }
-  },
-  "mounts": [
-    "type=volume,source=scons_cache,target=/tmp/scons_cache"
-  ]
-}

.devcontainer/host_setup

@@ -1,47 +0,0 @@
-#!/usr/bin/env bash
-
-# pull base image
-if [[ -z $USE_LOCAL_IMAGE ]]; then
-  echo "Updating openpilot_base image if needed..."
-  docker pull ghcr.io/commaai/openpilot-base:latest
-fi
-
-# setup .host dir
-mkdir -p .devcontainer/.host
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-  if ! [[ -f $HOME/.Xauthority ]]; then
-    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-  else
-    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-  fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
-
-# setup host env file
-HOST_INFO_FILE=".devcontainer/.host/.env"
-SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
-echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
-echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
-
-# run virtualgl if macos
-if [[ $SYSTEM == "darwin" ]]; then
-  echo
-  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
-    echo "Starting VirtualGL client at port 10000..."
-    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
-    mkdir -p "$(dirname $VGL_LOG_FILE)"
-    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
-  else
-    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
-    echo
-    echo "  brew install --cask virtualgl"
-    echo
-  fi
-fi

.devcontainer/host_setup.cmd

@@ -1,10 +0,0 @@
-:: pull base image
-IF NOT DEFINED USE_LOCAL_IMAGE ^
-echo "Updating openpilot_base image if needed..." && ^
-docker pull ghcr.io/commaai/openpilot-base:latest
-
-:: setup .host dir
-mkdir .devcontainer\.host
-
-:: setup host env file
-echo "" > .devcontainer\.host\.env

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/pull_request_template.md

@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/workflows/auto-cache/action.yaml

@@ -14,17 +14,25 @@ inputs:
     description: 'whether to save the cache'
     default: 'false'
     required: false
+outputs:
+  cache-hit:
+    description: 'cache hit occurred'
+    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
 
 runs:
   using: "composite"
   steps:
     - name: setup namespace cache
+      id: ns-cache
       if: ${{ contains(runner.name, 'nsc') }}
       uses: namespacelabs/nscloud-cache-action@v1
       with:
         path: ${{ inputs.path }}
 
     - name: setup github cache
+      id: gha-cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
       uses: 'actions/cache@v4'
       with:
@@ -33,6 +41,7 @@ runs:
         restore-keys: ${{ inputs.restore-keys }}
 
     - name: setup github cache
+      id: gha-cache-ro
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
       uses: 'actions/cache/restore@v4'
       with:

.github/workflows/ci_weekly_run.yaml

@@ -15,7 +15,3 @@ jobs:
     uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}
-  tools_tests:
-    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}

.github/workflows/docs.yaml

@@ -19,8 +19,9 @@ jobs:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 1
     steps:
+    - uses: commaai/timeout@v1
+
     - uses: actions/checkout@v4
       with:
         submodules: true

.github/workflows/repo-maintenance.yaml

@@ -28,7 +28,7 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        scons -j$(nproc) --minimal opendbc
+        scons -j$(nproc) --minimal opendbc_repo
         PYTHONPATH=. python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request

.github/workflows/selfdrive_tests.yaml

@@ -32,9 +32,9 @@ env:
 jobs:
   build_release:
     name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -75,15 +75,9 @@ jobs:
         ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
-    strategy:
-      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
-                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
-                   'ubuntu-latest'}}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -92,17 +86,14 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      timeout-minutes: 30
 
   build_mac:
     name: build macOS
-    runs-on: namespace-profile-macos-8x14
+    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -125,28 +116,11 @@ jobs:
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
   static_analysis:
     name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       PYTHONWARNINGS: default
     steps:
@@ -160,24 +134,16 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - 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)"
-    - name: Setup cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/comma_download_cache
-        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
@@ -195,27 +161,25 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
@@ -250,9 +214,9 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     strategy:
       fail-fast: false
       matrix:
@@ -263,17 +227,17 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
-      id: dependency-cache
-      uses: ./.github/workflows/auto-cache
+      id: routes-cache
+      uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 4
@@ -342,9 +306,9 @@ jobs:
 
   simulator_driving:
     name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -363,9 +327,9 @@ jobs:
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:

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

@@ -17,7 +17,6 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
@@ -27,7 +26,6 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
@@ -36,5 +34,4 @@ runs:
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
-        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true

.github/workflows/setup/action.yaml

@@ -1,10 +1,6 @@
 name: 'openpilot env setup'
 
 inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: true
-    default: ''
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -24,11 +20,9 @@ runs:
       name: No retries!
       run: |
         if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[31m"
-          echo "##################################################"
-          echo "    Retries not allowed! Fix the flaky test!      "
-          echo "##################################################"
-          echo -e "\033[0m"
+          echo -e "\033[0;31m##################################################"
+          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
+          echo -e "\033[0;31m##################################################\033[0m"
           exit 1
         fi
 
@@ -36,19 +30,6 @@ runs:
     - shell: bash
       run: git lfs pull
 
-    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
-    # https://buildjet.com/for-github-actions/docs/guides/docker
-    - shell: bash
-      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
-      run: |
-        echo "Need to set the Docker Hub PAT secret as an input to this action"
-        exit 1
-    - name: Login to Docker Hub
-      if: contains(runner.name, 'buildjet')
-      shell: bash
-      run: |
-        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
-
     # build cache
     - id: date
       shell: bash

.github/workflows/tools_tests.yaml

@@ -1,54 +0,0 @@
-name: tools
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-
-jobs:
-  devcontainer:
-    name: devcontainer
-    runs-on: ubuntu-latest
-    if: false  # we can re-enable once this is faster
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Use local image for testing devcontainer with latest base image
-      run: |
-        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
-    - name: Setup Dev Container CLI
-      run: npm install -g @devcontainers/cli
-    - name: Build dev container image
-      run: ./scripts/retry.sh devcontainer build --workspace-folder .
-    - name: Run dev container
-      run: |
-        mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
-        devcontainer up --workspace-folder .
-    - name: Test environment
-      run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip3 install pip-install-test
-        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
-        devcontainer exec --workspace-folder . sudo touch /root/test.txt

Dockerfile.openpilot_base

@@ -68,17 +68,14 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml uv.lock /tmp/
-COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
 
 ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /tmp && \
+RUN cd /home/$USER && \
     tools/install_python_dependencies.sh && \
-    mkdir -p $VIRTUAL_ENV && \
-    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
-    rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache
+    rm -rf tools/ pyproject.toml uv.lock .cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -79,6 +79,10 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
         return
     }
 
+    if (isReplay()) {
+      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
+    }
+
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
     def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
@@ -123,6 +127,11 @@ def hasPathChanged(String gitDiff, List<String> paths) {
   return false
 }
 
+def isReplay() {
+  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
+  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
+}
+
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
@@ -207,8 +216,8 @@ node {
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
@@ -243,7 +252,7 @@ node {
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
@@ -253,7 +262,7 @@ node {
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 

SConstruct

@@ -349,7 +349,7 @@ Export('common', 'gpucommon')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 
@@ -366,6 +366,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',

cereal/log.capnp

@@ -486,6 +486,9 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
+  intakeTempC @46 :Float32;
+  exhaustTempC @47 :Float32;
+  caseTempC @48 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;

cereal/messaging/tests/test_services.py

@@ -17,5 +17,5 @@ class TestServices:
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
       assert ret == 0, "generated services header is not valid C"

common/params.cc

@@ -112,7 +112,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisablePowerDown", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
-    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},

common/prefix.h

@@ -13,7 +13,7 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = "/dev/shm/" + prefix;
+    msgq_path = Path::shm_path() + "/" + prefix;
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/prefix.py

@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 class OpenpilotPrefix:
   def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache
 

common/realtime.py

@@ -48,13 +48,13 @@ class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
-    self._next_frame_time = time.monotonic() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = time.monotonic()
+    self._last_monitor_time = -1.
+    self._next_frame_time = -1.
 
   @property
   def frame(self) -> int:
@@ -79,6 +79,10 @@ class Ratekeeper:
 
   # Monitors the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    if self._last_monitor_time < 0:
+      self._next_frame_time = time.monotonic() + self._interval
+      self._last_monitor_time = time.monotonic()
+
     prev = self._last_monitor_time
     self._last_monitor_time = time.monotonic()
     self._dts.append(self._last_monitor_time - prev)

common/watchdog.cc

@@ -2,8 +2,9 @@
 
 #include "common/watchdog.h"
 #include "common/util.h"
+#include "system/hardware/hw.h"
 
-const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
+const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
 
 bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());

docs/CARS.md

@@ -167,7 +167,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
@@ -188,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.2"
+  export AGNOS_VERSION="11.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -31,6 +31,9 @@ dependencies = [
   # body / webrtcd
   "aiohttp",
   "aiortc",
+  # aiortc does not put an upper bound on pyopenssl and is now incompatible
+  # with the latest release
+  "pyopenssl < 24.3.0",
   "pyaudio",
 
   # panda
@@ -98,7 +101,6 @@ dev = [
   "azure-identity",
   "azure-storage-blob",
   "dictdiffer",
-  "flaky",
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
@@ -239,6 +241,7 @@ exclude = [
   "cereal",
   "panda",
   "opendbc",
+  "opendbc_repo",
   "rednose_repo",
   "tinygrad_repo",
   "teleoprtc",

release/release_files.py

@@ -32,7 +32,6 @@ blacklist = [
 
   ".git/",
   ".github/",
-  ".devcontainer/",
   "Darwin/",
   ".vscode",
 

scripts/code_stats.py

@@ -37,7 +37,7 @@ for f in sorted(pyf):
   lns = len(src.split("\n"))
   tree = ast.parse(src)
   Analyzer().visit(tree)
-  print("%5d %s %s" % (lns, f, xbit))
+  print(f"{lns:5d} {f} {xbit}")
   if 'test' in f:
     testlns += lns
   elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
@@ -47,8 +47,8 @@ for f in sorted(pyf):
   else:
     tlns += lns
 
-print("%d lines of openpilot python" % tlns)
-print("%d lines of car ports" % carlns)
-print("%d lines of tools/scripts/debug" % scriptlns)
-print("%d lines of tests" % testlns)
+print(f"{tlns} lines of openpilot python")
+print(f"{carlns} lines of car ports")
+print(f"{scriptlns} lines of tools/scripts/debug")
+print(f"{testlns} lines of tests")
 #print(sorted(list(imps)))

scripts/lint/check_raylib_includes.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/lint.sh

@@ -53,6 +53,7 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

scripts/waste.py

@@ -16,9 +16,9 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setproctitle(f"{core:3d}: {i:8d}")
       lt = time.monotonic()
-      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
+      print(f"{core:3d}: {i:8d} {lt-st:f}  {j:.2f}")
       st = lt
     i += 1
     j = np.sum(np.matmul(m1, m2))

selfdrive/assets/img_driver_face_static.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f7565541b4e6213221174839b9b2b67397ced0b9807ea56413989fd37325b3b6
-size 4908

selfdrive/car/tests/test_docs.py

@@ -17,7 +17,7 @@ class TestCarDocs:
     with open(CARS_MD_OUT) as f:
       current_cars_md = f.read()
 
-    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
+    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")

selfdrive/car/tests/test_models.py

@@ -394,7 +394,7 @@ class TestCarModelBase(unittest.TestCase):
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
-        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
+        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")
 
       # Skip first frame so CS_prev is properly initialized
       if idx == 0:

selfdrive/debug/can_printer.py

@@ -28,7 +28,7 @@ def can_printer(bus, max_msg, addr, ascii_decode):
         x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
         freq = len(msgs[_addr]) / (time.monotonic() - start)
         if max_msg is None or _addr < max_msg:
-          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
+          dd += f"{_addr:04X}({_addr:4d})({len(msgs[_addr]):6d})({freq:3}dHz) {x.ljust(20)} {a}\n"
       print(dd)
       lp = time.monotonic()
 

selfdrive/debug/check_can_parser_performance.py

@@ -29,7 +29,7 @@ if __name__ == '__main__':
     start_t = time.process_time_ns()
     for msg in msgs:
       can_list = can_capnp_to_list([msg])
-      for cp in tm.CI.can_parsers:
+      for cp in tm.CI.can_parsers.values():
         if cp is not None:
           cp.update_strings(can_list)
     ets.append((time.process_time_ns() - start_t) * 1e-6)

selfdrive/debug/count_events.py

@@ -8,6 +8,7 @@ from typing import cast
 
 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
 
 if __name__ == "__main__":
   cnt_events: Counter = Counter()
@@ -20,7 +21,7 @@ if __name__ == "__main__":
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
-  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+  for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
     t = (msg.logMonoTime - start_time) / 1e9
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)

selfdrive/debug/fingerprint_from_route.py

@@ -22,7 +22,7 @@ def get_fingerprint(lr):
           msgs[c.address] = len(c.dat)
 
   # show CAN fingerprint
-  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
   print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
   print(fingerprint)
 

selfdrive/debug/get_fingerprint.py

@@ -25,7 +25,7 @@ while True:
     if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
       msgs[c.address] = len(c.dat)
 
-  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
 
   print(f"number of messages {len(msgs)}:")
   print(f"fingerprint {fingerprint}")

selfdrive/locationd/locationd.py

@@ -8,6 +8,7 @@ from enum import Enum
 from collections import defaultdict
 
 from cereal import log, messaging
+from cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
@@ -23,8 +24,10 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after a bad input
+INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
+TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
+INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
+TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
 
@@ -265,10 +268,13 @@ def main():
   estimator = LocationEstimator(DEBUG)
 
   filter_initialized = False
-  critcal_services = ["accelerometer", "gyroscope", "liveCalibration", "cameraOdometry"]
-  observation_timing_invalid = False
+  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
+  observation_timing_invalid = defaultdict(int)
   observation_input_invalid = defaultdict(int)
 
+  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+
   initial_pose = params.get("LocationFilterInitialState")
   if initial_pose is not None:
     initial_pose = json.loads(initial_pose)
@@ -282,8 +288,6 @@ def main():
     acc_msgs, gyro_msgs = (messaging.drain_sock(sock) for sock in sensor_sockets)
 
     if filter_initialized:
-      observation_timing_invalid = False
-
       msgs = []
       for msg in acc_msgs + gyro_msgs:
         t, valid, which, data = msg.logMonoTime, msg.valid, msg.which(), getattr(msg, msg.which())
@@ -298,18 +302,23 @@ def main():
         if valid:
           t = log_mono_time * 1e-9
           res = estimator.handle_log(t, which, msg)
+          if which not in critcal_services:
+            continue
+
           if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid = True
+            observation_timing_invalid[which] += 1
           elif res == HandleLogResult.INPUT_INVALID:
             observation_input_invalid[which] += 1
           else:
-            observation_input_invalid[which] *= INPUT_INVALID_DECAY
+            observation_input_invalid[which] *= input_invalid_decay[which]
+            observation_timing_invalid[which] *= timing_invalid_decay[which]
     else:
       filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
     if sm.updated["cameraOdometry"]:
       critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and not observation_timing_invalid
+      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -1,4 +1,3 @@
-import pytest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -17,6 +16,7 @@ SELECT_COMPARE_FIELDS = {
   'sensors_flag': ['sensorsOK'],
 }
 JUNK_IDX = 100
+CONSISTENT_SPIKES_COUNT = 10
 
 
 class Scenario(Enum):
@@ -25,6 +25,8 @@ class Scenario(Enum):
   GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
   ACCEL_OFF = 'accel_off'
   ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
+  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'
 
 
 def get_select_fields_data(logs):
@@ -43,6 +45,17 @@ def get_select_fields_data(logs):
   return data
 
 
+def modify_logs_midway(logs, which, count, fn):
+  non_which = [x for x in logs if x.which() != which]
+  which = [x for x in logs if x.which() == which]
+  temps = which[len(which) // 2:len(which) // 2 + count]
+  for i, temp in enumerate(temps):
+    temp = temp.as_builder()
+    fn(temp)
+    which[len(which) // 2 + i] = temp.as_reader()
+  return sorted(non_which + which, key=lambda x: x.logMonoTime)
+
+
 def run_scenarios(scenario, logs):
   if scenario == Scenario.BASE:
     pass
@@ -51,30 +64,28 @@ def run_scenarios(scenario, logs):
     logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
 
   elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
-    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
-    gyro = [x for x in logs if x.which() in 'gyroscope']
-    temp = gyro[len(gyro) // 2].as_builder()
-    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
-    gyro[len(gyro) // 2] = temp.as_reader()
-    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
+    def gyro_spike(msg):
+      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
+    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
 
   elif scenario == Scenario.ACCEL_OFF:
     logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
 
   elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
-    non_accel = [x for x in logs if x.which() not in 'accelerometer']
-    accel = [x for x in logs if x.which() in 'accelerometer']
-    temp = accel[len(accel) // 2].as_builder()
-    temp.accelerometer.acceleration.v[0] += 10.0
-    accel[len(accel) // 2] = temp.as_reader()
-    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
+    def acc_spike(msg):
+      msg.accelerometer.acceleration.v[0] += 10.0
+    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+
+  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
+    def timing_spike(msg):
+      msg.accelerometer.timestamp -= int(0.150 * 1e9)
+    count = 1 if scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, timing_spike)
 
   replayed_logs = replay_process_with_name(name='locationd', lr=logs)
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
 
 
-@pytest.mark.xdist_group("test_locationd_scenarios")
-@pytest.mark.shared_download_cache
 class TestLocationdScenarios:
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:
@@ -122,7 +133,7 @@ class TestLocationdScenarios:
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
     assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[696] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
 
   def test_accel_off(self):
     """
@@ -146,3 +157,21 @@ class TestLocationdScenarios:
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+
+  def test_single_timing_spike(self):
+    """
+    Test: timing of 150ms off for the single accelerometer message in the middle of the segment
+    Expected Result: the message is ignored, and inputsOK is False for that time
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_SPIKE_MIDWAY, self.logs)
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_timing_spikes(self):
+    """
+    Test: consistent timing spikes for N accelerometer messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0

selfdrive/modeld/dmonitoringmodeld.py

@@ -12,7 +12,6 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.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 CLContext
@@ -126,7 +125,6 @@ def main():
   cl_context = CLContext()
   model = ModelState(cl_context)
   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, cl_context)

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
-size 50320138
+oid sha256:9dc64f5d1e7d6b67f1d4659a3483f03b4324b4c7b969a5ba90c4e37e62bf6fce
+size 50320584

selfdrive/pandad/panda.cc

@@ -145,6 +145,10 @@ void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
   handle->control_write(0xde, bus, (speed * 10));
 }
 
+void Panda::set_can_fd_auto(uint16_t bus, bool enabled) {
+  handle->control_write(0xe8, bus, enabled);
+}
+
 void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
   handle->control_write(0xf9, bus, (speed * 10));
 }

selfdrive/pandad/panda.h

@@ -77,6 +77,7 @@ public:
   void enable_deepsleep();
   void send_heartbeat(bool engaged);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
+  void set_can_fd_auto(uint16_t bus, bool enabled);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
   void can_send(const capnp::List<cereal::CanData>::Reader &can_data_list);

selfdrive/pandad/pandad.cc

@@ -67,6 +67,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
+  for (int i = 0; i < PANDA_BUS_CNT; i++) {
+    panda->set_can_fd_auto(i, true);
+  }
+
   if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }

selfdrive/pandad/spi.cc

@@ -239,7 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
         // due to full TX buffers
         nack_count += 1;
         if (nack_count > 3) {
-          SPILOG(LOGE, "NACK sleep %d", nack_count);
+          SPILOG(LOGD, "NACK sleep %d", nack_count);
           usleep(std::clamp(nack_count*10, 200, 2000));
         }
       }
@@ -418,7 +418,7 @@ fail:
     }
   }
 
-  if (ret > 0) ret = -1;
+  if (ret >= 0) ret = -1;
   return ret;
 }
 #endif

selfdrive/pandad/tests/test_pandad.py

@@ -6,6 +6,7 @@ import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
+from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
@@ -51,6 +52,7 @@ class TestPandad:
     assert not Panda.wait_for_dfu(None, 3)
     assert not Panda.wait_for_panda(None, 3)
 
+  @retry(attempts=3)
   def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
     self._go_to_dfu()
     pd = PandaDFU(None)

selfdrive/pandad/tests/test_pandad_loopback.py

@@ -14,7 +14,7 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.system.hardware import TICI
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 
 
 @retry(attempts=3)
@@ -72,7 +72,6 @@ class TestBoarddLoopback:
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
 
-  @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
     num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1

selfdrive/pandad/tests/test_pandad_spi.py

@@ -7,7 +7,7 @@ import random
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@@ -23,7 +23,6 @@ class TestBoarddSpi:
     if not JUNGLE_SPAM:
       os.environ['BOARDD_LOOPBACK'] = '1'
 
-  @phone_only
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
     setup_pandad(1)

selfdrive/selfdrived/tests/test_alerts.py

@@ -42,7 +42,7 @@ class TestAlerts:
 
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):
-        fail_msg = "%s @%d not in EVENTS" % (name, e)
+        fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 
   # ensure alert text doesn't exceed allowed width

selfdrive/test/helpers.py

@@ -10,7 +10,6 @@ from functools import wraps
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
 
 
@@ -29,14 +28,6 @@ def set_params_enabled():
   msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
   params.put("CalibrationParams", msg.to_bytes())
 
-def phone_only(f):
-  @wraps(f)
-  def wrap(self, *args, **kwargs):
-    if PC:
-      pytest.skip("This test is not meant to run on PC")
-    return f(self, *args, **kwargs)
-  return wrap
-
 def release_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):

selfdrive/test/process_replay/model_replay.py

@@ -7,19 +7,20 @@ import tempfile
 from itertools import zip_longest
 
 import matplotlib.pyplot as plt
+import numpy as np
 
 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
-MAX_FRAMES = 100 if PC else 600
+MAX_FRAMES = 100 if PC else 400
 
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
@@ -31,14 +32,14 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 
 def get_log_fn(test_route, ref="master"):
-  return f"{test_route}_model_tici_{ref}.bz2"
+  return f"{test_route}_model_tici_{ref}.zst"
 
 def plot(proposed, master, title, tmp):
   proposed = list(proposed)
   master = list(master)
   fig, ax = plt.subplots()
-  ax.plot(proposed, label='PROPOSED')
   ax.plot(master, label='MASTER')
+  ax.plot(proposed, label='PROPOSED')
   plt.legend(loc='best')
   plt.title(title)
   plt.savefig(f'{tmp}/{title}.png')
@@ -151,21 +152,44 @@ def model_replay(lr, frs):
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
   modeld_msgs = replay_process(modeld, modeld_logs, frs)
+  if isinstance(frs['roadCameraState'], NumpyFrameReader):
+    del frs['roadCameraState'].frames
+    del frs['wideRoadCameraState'].frames
   dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
   return modeld_msgs + dmonitoringmodeld_msgs
 
 
+def get_frames():
+  regen_cache = "--regen-cache" in sys.argv
+  cache = "--cache" in sys.argv or not PC or regen_cache
+  videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
+  cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+
+  if cache:
+    frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
+    os.makedirs(frames_cache, exist_ok=True)
+
+    cache_size = 200
+    for v in videos:
+      if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
+        f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
+        print(f'Caching {v}...')
+        for i in range(MAX_FRAMES//cache_size):
+          np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
+        del f
+
+    return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
+  else:
+    return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
+
+
 if __name__ == "__main__":
   update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
 
   # load logs
-  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
-  frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
-  }
+  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
+  frs = get_frames()
 
   log_msgs = []
   # run replays

selfdrive/test/process_replay/process_replay.py

@@ -5,13 +5,13 @@ import copy
 import json
 import heapq
 import signal
-import platform
 from collections import Counter, OrderedDict
 from dataclasses import dataclass, field
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
 import capnp
+from openpilot.system.hardware.hw import Paths
 
 import cereal.messaging as messaging
 from cereal import car
@@ -780,8 +780,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
 
 def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> dict[str, Any]:
   environ_dict = {}
-  if platform.system() != "Darwin":
-    environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
+  environ_dict["PARAMS_ROOT"] = f"{Paths.shm_path()}/params"
   if log_dir is not None:
     environ_dict["LOG_ROOT"] = log_dir
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-2fc2e865ab77fd8145feab86d454f2111c5d9871
+255ceb08c75bc85379da5ec247e612be3716fb43

selfdrive/test/test_onroad.py

@@ -72,7 +72,7 @@ PROCS = {
 
 PROCS.update({
   "tici": {
-    "./pandad": 4.0,
+    "./pandad": 5.0,
     "./ubloxd": 1.0,
     "system.ubloxd.pigeond": 6.0,
   },
@@ -138,6 +138,7 @@ class TestOnroad:
     proc = None
     try:
       manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
+      cls.manager_st = time.monotonic()
       proc = subprocess.Popen(["python", manager_path])
 
       sm = messaging.SubMaster(['carState'])
@@ -202,6 +203,10 @@ class TestOnroad:
       with subtests.test(service=s):
         assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
 
+  def test_manager_starting_time(self):
+    st = self.msgs['managerState'][0].logMonoTime / 1e9
+    assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
+
   def test_cloudlog_size(self):
     msgs = self.msgs['logMessage']
 
@@ -295,13 +300,18 @@ class TestOnroad:
     assert cpu_ok
 
   def test_memory_usage(self):
+    print("\n------------------------------------------------")
+    print("--------------- Memory Usage -------------------")
+    print("------------------------------------------------")
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
     mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
     print("Memory usage: ", mems)
 
     # check for big leaks. note that memory usage is
     # expected to go up while the MSGQ buffers fill up
-    assert max(mems) - min(mems) <= 3.0
+    assert np.average(mems) <= 65, "Average memory usage above 65%"
+    assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
+    assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
 
   def test_gpu_usage(self):
     assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}

selfdrive/ui/SConscript

@@ -110,5 +110,3 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
-
-SConscript(['raylib/SConscript'])

selfdrive/ui/qt/home.cc

@@ -124,6 +124,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     // left: PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
     QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    left_prime_layout->setContentsMargins(0, 0, 0, 0);
     QWidget *prime_user = new PrimeUserWidget();
     prime_user->setStyleSheet(R"(
     border-radius: 10px;

selfdrive/ui/qt/setup/setup.cc

@@ -408,7 +408,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
   std::stringstream buffer;
   buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
   float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage > 0 && voltage < 7) {
+  if (voltage < 7) {
     addWidget(low_voltage());
   }
 

selfdrive/ui/raylib/.gitignore

@@ -1 +0,0 @@
-_spinner

selfdrive/ui/raylib/SConscript

@@ -1,17 +0,0 @@
-Import('env', 'arch', 'common')
-
-raylib_env = env.Clone()
-raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
-linked_libs = ['raylib', raylib_util_lib, common]
-raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-
-mac_frameworks = []
-if arch == "Darwin":
-  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
-elif arch == 'larch64':
-  linked_libs += []
-else:
-  linked_libs += ['OpenCL', 'dl', 'pthread']
-
-if arch != 'aarch64':
-  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)

system/athena/athenad.py

@@ -54,6 +54,7 @@ RETRY_DELAY = 10  # seconds
 MAX_RETRY_COUNT = 30  # Try for at most 5 minutes if upload fails immediately
 MAX_AGE = 31 * 24 * 3600  # seconds
 WS_FRAME_SIZE = 4096
+DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -99,9 +100,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
+cur_upload_items_lock = threading.Lock()
 
 
 def strip_zst_extension(fn: str) -> str:
@@ -129,8 +130,9 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      queue: list[UploadItem | None] = list(upload_queue.queue)
-      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
+      with upload_queue.mutex:
+        items = [asdict(item) for item in upload_queue.queue]
+
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -197,10 +199,12 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
       progress=0,
       current=False
     )
-    upload_queue.put_nowait(item)
-    UploadQueueCache.cache(upload_queue)
 
-    cur_upload_items[tid] = None
+    with cur_upload_items_lock:
+      upload_queue.put_nowait(item)
+      cur_upload_items[tid] = None
+
+    UploadQueueCache.cache(upload_queue)
 
     for _ in range(RETRY_DELAY):
       time.sleep(1)
@@ -211,15 +215,17 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
 def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   # Abort transfer if connection changed to metered after starting upload
   # or if athenad is shutting down to re-connect the websocket
-  sm.update(0)
-  metered = sm['deviceState'].networkMetered
-  if metered and (not item.allow_cellular):
-    raise AbortTransferException
+  if not item.allow_cellular:
+    if (time.monotonic() - sm.recv_time['deviceState']) > DEVICE_STATE_UPDATE_INTERVAL:
+      sm.update(0)
+      if sm['deviceState'].networkMetered:
+        raise AbortTransferException
 
   if end_event.is_set():
     raise AbortTransferException
 
-  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  with cur_upload_items_lock:
+    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
 def upload_handler(end_event: threading.Event) -> None:
@@ -227,14 +233,10 @@ def upload_handler(end_event: threading.Event) -> None:
   tid = threading.get_ident()
 
   while not end_event.is_set():
-    cur_upload_items[tid] = None
-
     try:
-      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
-
-      if item.id in cancelled_uploads:
-        cancelled_uploads.remove(item.id)
-        continue
+      with cur_upload_items_lock:
+        cur_upload_items[tid] = None
+        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
 
       # Remove item if too old
       age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -258,13 +260,13 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, partial(cb, sm, item, tid, end_event))
 
-        if response.status_code not in (200, 201, 401, 403, 412):
-          cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
-          retry_upload(tid, end_event)
-        else:
-          cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
+        with _do_upload(item, partial(cb, sm, item, tid, end_event)) as response:
+          if response.status_code not in (200, 201, 401, 403, 412):
+            cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
+            retry_upload(tid, end_event)
+          else:
+            cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
 
         UploadQueueCache.cache(upload_queue)
       except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError):
@@ -309,13 +311,16 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)
-  ret = messaging.recv_one(socket)
+  try:
+    ret = messaging.recv_one(socket)
 
-  if ret is None:
-    raise TimeoutError
+    if ret is None:
+      raise TimeoutError
 
-  # this is because capnp._DynamicStructReader doesn't have typing information
-  return cast(dict, ret.to_dict())
+    # this is because capnp._DynamicStructReader doesn't have typing information
+    return cast(dict, ret.to_dict())
+  finally:
+    del socket
 
 
 @dispatcher.add_method
@@ -410,8 +415,10 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
 @dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  with cur_upload_items_lock, upload_queue.mutex:
+    items = list(upload_queue.queue) + [item for item in cur_upload_items.values() if item is not None]
+
+  return [asdict(item) for item in items]
 
 
 @dispatcher.add_method
@@ -419,13 +426,14 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
-  uploading_ids = {item.id for item in list(upload_queue.queue)}
-  cancelled_ids = uploading_ids.intersection(upload_id)
-  if len(cancelled_ids) == 0:
-    return {"success": 0, "error": "not found"}
+  with upload_queue.mutex:
+    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
+    if len(remaining_items) == len(upload_queue.queue):
+      return {"success": 0, "error": "not found"}
 
-  cancelled_uploads.update(cancelled_ids)
-  return {"success": 1}
+    upload_queue.queue.clear()
+    upload_queue.queue.extend(remaining_items)
+    return {"success": 1}
 
 @dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
@@ -626,8 +634,9 @@ def log_handler(end_event: threading.Event) -> None:
 
 def stat_handler(end_event: threading.Event) -> None:
   STATS_DIR = Paths.stats_root()
+  last_scan = 0.0
+
   while not end_event.is_set():
-    last_scan = 0.
     curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
@@ -801,6 +810,8 @@ def main(exit_event: threading.Event = None):
       cur_upload_items.clear()
 
       handle_long_poll(ws, exit_event)
+
+      ws.close()
     except (KeyboardInterrupt, SystemExit):
       break
     except (ConnectionError, TimeoutError, WebSocketException):

system/athena/tests/test_athenad.py

@@ -78,7 +78,6 @@ class TestAthenadMethods:
 
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
-    athenad.cancelled_uploads.clear()
 
     for i in os.listdir(Paths.log_root()):
       p = os.path.join(Paths.log_root(), i)
@@ -240,7 +239,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('requests.put')
-    mock_put.return_value.status_code = status
+    mock_put.return_value.__enter__.return_value.status_code = status
     fn = self._create_file('qlog.zst')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
@@ -282,13 +281,10 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
-    assert item.id in athenad.cancelled_uploads
-
     self._wait_for_upload()
     time.sleep(0.1)
 
     assert athenad.upload_queue.qsize() == 0
-    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
   def test_cancel_expiry(self):
@@ -331,7 +327,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
-    athenad.cancelled_uploads.add(item.id)
+    dispatcher["cancelUpload"](item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
 
@@ -343,7 +339,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
-    athenad.cancelled_uploads.add(item2.id)
+    dispatcher["cancelUpload"](item2.id)
 
     # serialize item
     athenad.UploadQueueCache.cache(athenad.upload_queue)

system/camerad/cameras/camera_common.cc

@@ -65,16 +65,19 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   const SensorInfo *sensor = cam->sensor.get();
 
   is_raw = cam->is_raw;
-  camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
   frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
-  // RAW + final frames from ISP
-  const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
-  for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs_raw[i].allocate(raw_frame_size);
-    camera_bufs_raw[i].init_cl(device_id, context);
+  // RAW frames from ISP
+  if (is_raw) {
+    camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
+
+    const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
+    for (int i = 0; i < frame_buf_count; i++) {
+      camera_bufs_raw[i].allocate(raw_frame_size);
+      camera_bufs_raw[i].init_cl(device_id, context);
+    }
+    LOGD("allocated %d CL buffers", frame_buf_count);
   }
-  LOGD("allocated %d CL buffers", frame_buf_count);
 
   out_img_width = sensor->frame_width;
   out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
@@ -83,8 +86,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
-  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, cam->stride, cam->y_height);
+  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
 
   imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }

system/camerad/cameras/camera_common.h

@@ -8,7 +8,7 @@
 #include "common/util.h"
 
 
-const int YUV_BUFFER_COUNT = 20;
+const int VIPC_BUFFER_COUNT = 18;
 
 typedef struct FrameMetadata {
   uint32_t frame_id;

system/camerad/cameras/camera_qcom2.cc

@@ -69,10 +69,10 @@ public:
 };
 
 void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  if (!camera.enabled) return;
-
   camera.camera_open(v, device_id, ctx);
 
+  if (!camera.enabled) return;
+
   fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
   set_exposure_rect();
 
@@ -140,14 +140,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
   // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete
 
-  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3];
   const auto &sensor = camera.sensor;
+  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale;
 
   // Scale target grey between 0.1 and 0.4 depending on lighting conditions
   float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
   float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
 
-  float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
+  float desired_ev = std::clamp(cur_ev_ / sensor->ev_scale * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
   float k = (1.0 - k_ev) / 3.0;
   desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
 

system/camerad/cameras/spectra.cc

@@ -242,6 +242,9 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config,
     cc(config),
     is_raw(raw) {
   mm.init(m->video0_fd);
+
+  ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT;
+  assert(ife_buf_depth < MAX_IFE_BUFS);
 }
 
 SpectraCamera::~SpectraCamera() {
@@ -261,12 +264,12 @@ int SpectraCamera::clear_req_queue() {
 }
 
 void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  if (!enabled) return;
-
   if (!openSensor()) {
     return;
   }
 
+  if (!enabled) return;
+
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
   stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
@@ -288,14 +291,15 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   linkDevices();
 
   LOGD("camera init %d", cc.camera_num);
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
+  buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
+  enqueue_req_multi(1, ife_buf_depth, 0);
 }
 
 void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
   for (uint64_t i = start; i < start + n; ++i) {
-    request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
-    enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
+    request_ids[(i - 1) % ife_buf_depth] = i;
+    enqueue_buffer((i - 1) % ife_buf_depth, dp);
   }
 }
 
@@ -670,7 +674,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   int ret;
   uint64_t request_id = request_ids[i];
 
-  if (buf_handle_raw[i] && sync_objs[i]) {
+  if (sync_objs[i]) {
     // wait
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
@@ -733,31 +737,31 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
 
 void SpectraCamera::camera_map_bufs() {
   int ret;
-  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+  for (int i = 0; i < ife_buf_depth; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
+    mem_mgr_map_cmd.num_hdl = 1;
     //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
     //mem_mgr_map_cmd.num_hdl = 2;
-    mem_mgr_map_cmd.num_hdl = 1;
-    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
 
-    // RAW bayer images
-    mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
-    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    assert(ret == 0);
-    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
-
-    // TODO: this needs to match camera bufs length
-    // final processed images
-    VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
-    mem_mgr_map_cmd.fd = vb->fd;
-    ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-    LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
-    buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
+    if (is_raw) {
+      // RAW bayer images
+      mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
+      ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+      assert(ret == 0);
+      LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+      buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
+    } else {
+      // final processed images
+      VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
+      mem_mgr_map_cmd.fd = vb->fd;
+      ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+      LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
+      buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
+    }
   }
-  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
 bool SpectraCamera::openSensor() {
@@ -870,7 +874,7 @@ void SpectraCamera::configISP() {
   // allocate IFE memory, then configure it
   ife_cmd.init(m, 67984, 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-               m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
+               m->device_iommu, m->cdm_iommu, ife_buf_depth);
   if (!is_raw) {
     ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
                        CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
@@ -925,7 +929,7 @@ void SpectraCamera::configICP() {
 
   // BPS CMD buffer
   unsigned char striping_out[] = "\x00";
-  bps_cmd.init(m, FRAME_BUF_COUNT*ALIGNED_SIZE(464, 0x20), 0x20,
+  bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20,
                CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
                m->icp_device_iommu);
 
@@ -1046,9 +1050,8 @@ void SpectraCamera::camera_close() {
     ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
     LOGD("release csiphy: %d", ret);
 
-    for (int i = 0; i < FRAME_BUF_COUNT; i++) {
-      release(m->video0_fd, buf_handle_yuv[i]);
-      release(m->video0_fd, buf_handle_raw[i]);
+    for (int i = 0; i < ife_buf_depth; i++) {
+      release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]);
     }
     LOGD("released buffers");
   }
@@ -1071,13 +1074,13 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
 
   if (real_id != 0) { // next ready
     if (real_id == 1) {idx_offset = main_id;}
-    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
+    int buf_idx = (real_id - 1) % ife_buf_depth;
 
     // check for skipped frames
     if (main_id > frame_id_last + 1 && !skipped) {
       LOGE("camera %d realign", cc.camera_num);
       clear_req_queue();
-      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
+      enqueue_req_multi(real_id + 1, ife_buf_depth - 1, 0);
       skipped = true;
     } else if (main_id == frame_id_last + 1) {
       skipped = false;
@@ -1086,7 +1089,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     // check for dropped requests
     if (real_id > request_id_last + 1) {
       LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
-      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
+      enqueue_req_multi(request_id_last + 1 + ife_buf_depth, real_id - (request_id_last + 1), 0);
     }
 
     // metas
@@ -1099,12 +1102,12 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback
 
     // dispatch
-    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
+    enqueue_req_multi(real_id + ife_buf_depth, 1, 1);
   } else { // not ready
     if (main_id > frame_id_last + 10) {
       LOGE("camera %d reset after half second of no response", cc.camera_num);
       clear_req_queue();
-      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
+      enqueue_req_multi(request_id_last + 1, ife_buf_depth, 0);
       frame_id_last = main_id;
       skipped = true;
     }

system/camerad/cameras/spectra.h

@@ -12,7 +12,7 @@
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"
 
-#define FRAME_BUF_COUNT 4
+#define MAX_IFE_BUFS 20
 
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
@@ -116,6 +116,7 @@ public:
 
   // *** state ***
 
+  int ife_buf_depth = -1;
   bool open = false;
   bool enabled = true;
   CameraConfig cc;
@@ -151,11 +152,11 @@ public:
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
 
-  int buf_handle_yuv[FRAME_BUF_COUNT] = {};
-  int buf_handle_raw[FRAME_BUF_COUNT] = {};
-  int sync_objs[FRAME_BUF_COUNT] = {};
-  int sync_objs_bps_out[FRAME_BUF_COUNT] = {};
-  uint64_t request_ids[FRAME_BUF_COUNT] = {};
+  int buf_handle_yuv[MAX_IFE_BUFS] = {};
+  int buf_handle_raw[MAX_IFE_BUFS] = {};
+  int sync_objs[MAX_IFE_BUFS] = {};
+  int sync_objs_bps_out[MAX_IFE_BUFS] = {};
+  uint64_t request_ids[MAX_IFE_BUFS] = {};
   uint64_t request_id_last = 0;
   uint64_t frame_id_last = 0;
   uint64_t idx_offset = 0;

system/camerad/sensors/os04c10.cc

@@ -43,27 +43,28 @@ OS04C10::OS04C10() {
   frame_data_type = 0x2c;
   mclk_frequency = 24000000; // Hz
 
+  ev_scale = 150.0;
   dc_gain_factor = 1;
   dc_gain_min_weight = 1;  // always on is fine
   dc_gain_max_weight = 1;
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 2400;
+  exposure_time_max = 1684;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
-  analog_gain_max_idx = 0x36;
+  analog_gain_max_idx = 0x28;
   analog_gain_cost_delta = -1;
   analog_gain_cost_low = 0.4;
   analog_gain_cost_high = 6.4;
   for (int i = 0; i <= analog_gain_max_idx; i++) {
     sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
   }
-  min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
+  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
 
-  black_level = 64;
+  black_level = 48;
   color_correct_matrix = {
     0x000000c2, 0x00000fe0, 0x00000fde,
     0x00000fa7, 0x000000d9, 0x00001000,

system/camerad/sensors/os04c10_cl.h

@@ -4,9 +4,9 @@
 
 #define BIT_DEPTH 12
 #define PV_MAX10 1023
-#define PV_MAX12 4096
+#define PV_MAX12 4095
 #define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 64
+#define BLACK_LVL 48
 #define VIGNETTE_RSZ 2.2545f
 
 float combine_dual_pvs(float lv, float sv, int expo_time) {

system/camerad/sensors/os04c10_registers.h

@@ -42,21 +42,21 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3691, 0x0d},
   {0x3696, 0x4c},
   {0x3697, 0x4c},
-  {0x3698, 0x40},
+  {0x3698, 0x00},
   {0x3699, 0x80},
-  {0x369a, 0x18},
+  {0x369a, 0x80},
   {0x369b, 0x1f},
-  {0x369c, 0x14},
+  {0x369c, 0x1f},
   {0x369d, 0x80},
   {0x369e, 0x40},
   {0x369f, 0x21},
   {0x36a0, 0x12},
-  {0x36a1, 0x5d},
+  {0x36a1, 0xdd},
   {0x36a2, 0x66},
   {0x370a, 0x02},
-  {0x370e, 0x0c},
+  {0x370e, 0x00},
   {0x3710, 0x00},
-  {0x3713, 0x00},
+  {0x3713, 0x04},
   {0x3725, 0x02},
   {0x372a, 0x03},
   {0x3738, 0xce},
@@ -81,11 +81,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37ba, 0x03},
   {0x37bb, 0x00},
   {0x37bc, 0x04},
-  {0x37be, 0x08},
+  {0x37be, 0x26},
   {0x37c4, 0x11},
   {0x37c5, 0x80},
   {0x37c6, 0x14},
-  {0x37c7, 0x08},
+  {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
   // {0x3829, 0x03},
@@ -186,10 +186,10 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3661, 0x04},
   {0x3664, 0x70},
   {0x3665, 0x00},
-  {0x3681, 0xa6},
-  {0x3682, 0x53},
-  {0x3683, 0x2a},
-  {0x3684, 0x15},
+  {0x3681, 0x80},
+  {0x3682, 0x40},
+  {0x3683, 0x21},
+  {0x3684, 0x12},
   {0x3700, 0x2a},
   {0x3701, 0x12},
   {0x3703, 0x28},
@@ -198,7 +198,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3709, 0x4a},
   {0x370b, 0x48},
   {0x370c, 0x01},
-  {0x370f, 0x04},
+  {0x370f, 0x00},
   {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
@@ -278,12 +278,12 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
-  {0x3880, 0x25},
+  {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
   {0x3c94, 0x45},
@@ -291,7 +291,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3cae, 0x00},
   {0x4000, 0xf3},
   {0x4001, 0x60},
-  {0x4003, 0x80},
+  {0x4003, 0x40},
   {0x4300, 0xff},
   {0x4302, 0x0f},
   {0x4305, 0x83},
@@ -307,7 +307,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // {0x0100, 0x01},
   // {0x320d, 0x00},
   // {0x3208, 0xa0},
-  {0x3822, 0x14},
 
   // initialize exposure
   {0x3503, 0x88},

system/camerad/sensors/sensor.h

@@ -43,6 +43,7 @@ public:
   float dc_gain_on_grey;
   float dc_gain_off_grey;
 
+  float ev_scale = 1.0;
   float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
   int analog_gain_min_idx;
   int analog_gain_max_idx;

system/camerad/test/test_camerad.py

@@ -1,12 +1,12 @@
 import pytest
 import time
 import numpy as np
-from flaky import flaky
 from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
+from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes
 
 TEST_TIMESPAN = 10
@@ -17,44 +17,46 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
-# TODO: this shouldn't be needed
-@flaky(max_runs=3)
+@retry(attempts=3, delay=5.0)
+def setup_camerad(cls):
+  # run camerad and record logs
+  managed_processes['camerad'].start()
+  time.sleep(3)
+  socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+
+  cls.logs = defaultdict(list)
+  start_time = time.monotonic()
+  while time.monotonic()- start_time < TEST_TIMESPAN:
+    for cam, s in socks.items():
+      cls.logs[cam] += messaging.drain_sock(s)
+    time.sleep(0.2)
+  managed_processes['camerad'].stop()
+
+  cls.log_by_frame_id = defaultdict(list)
+  cls.sensor_type = None
+  for cam, msgs in cls.logs.items():
+    if cls.sensor_type is None:
+      cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
+
+    dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
+    assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
+    for m in msgs:
+      cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+
+  # strip beginning and end
+  for _ in range(3):
+    mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+    del cls.log_by_frame_id[mn]
+    del cls.log_by_frame_id[mx]
+
 @pytest.mark.tici
 class TestCamerad:
   @classmethod
   def setup_class(cls):
-    # run camerad and record logs
-    managed_processes['camerad'].start()
-    time.sleep(3)
-    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
-
-    cls.logs = defaultdict(list)
-    start_time = time.monotonic()
-    while time.monotonic()- start_time < TEST_TIMESPAN:
-      for cam, s in socks.items():
-        cls.logs[cam] += messaging.drain_sock(s)
-      time.sleep(0.2)
-    managed_processes['camerad'].stop()
-
-    cls.log_by_frame_id = defaultdict(list)
-    cls.sensor_type = None
-    for cam, msgs in cls.logs.items():
-      if cls.sensor_type is None:
-        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
-      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
-
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
-
-      for m in msgs:
-        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
-
-    # strip beginning and end
-    for _ in range(3):
-      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
-      del cls.log_by_frame_id[mn]
-      del cls.log_by_frame_id[mx]
+    setup_camerad(cls)
 
   def test_frame_skips(self):
     skips = {}

system/camerad/test/test_exposure.py

@@ -1,12 +1,14 @@
 import time
 import numpy as np
+import pytest
 
-from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.camerad.snapshot.snapshot import get_snapshots
 
 TEST_TIME = 45
 REPEAT = 5
 
+@pytest.mark.tici
 class TestCamerad:
   @classmethod
   def setup_class(cls):
@@ -28,7 +30,6 @@ class TestCamerad:
     print([i_median, i_mean])
     return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
 
-  @phone_only
   @with_processes(['camerad'])
   def test_camera_operation(self):
     passed = 0

system/hardware/base.py

@@ -1,11 +1,54 @@
+import os
 from abc import abstractmethod, ABC
-from collections import namedtuple
+from dataclasses import dataclass, fields
 
 from cereal import log
 
-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic'])
 NetworkType = log.DeviceState.NetworkType
 
+@dataclass
+class ThermalZone:
+  # a zone from /sys/class/thermal/thermal_zone*
+  name: str             # a.k.a type
+  scale: float = 1000.  # scale to get degrees in C
+  zone_number = -1
+
+  def read(self) -> float:
+    if self.zone_number < 0:
+      for n in os.listdir("/sys/devices/virtual/thermal"):
+        if not n.startswith("thermal_zone"):
+          continue
+        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
+          if f.read().strip() == self.name:
+            self.zone_number = int(n.removeprefix("thermal_zone"))
+            break
+
+    try:
+      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
+        return int(f.read()) / self.scale
+    except FileNotFoundError:
+      return 0
+
+@dataclass
+class ThermalConfig:
+  cpu: list[ThermalZone] | None = None
+  gpu: list[ThermalZone] | None = None
+  pmic: list[ThermalZone] | None = None
+  memory: ThermalZone | None = None
+  intake: ThermalZone | None = None
+  exhaust: ThermalZone | None = None
+  case: ThermalZone | None = None
+
+  def get_msg(self):
+    ret = {}
+    for f in fields(ThermalConfig):
+      v = getattr(self, f.name)
+      if v is not None:
+        if isinstance(v, list):
+          ret[f.name + "TempC"] = [x.read() for x in v]
+        else:
+          ret[f.name + "TempC"] = v.read()
+    return ret
 
 class HardwareBase(ABC):
   @staticmethod
@@ -84,9 +127,8 @@ class HardwareBase(ABC):
   def shutdown(self):
     pass
 
-  @abstractmethod
   def get_thermal_config(self):
-    pass
+    return ThermalConfig()
 
   @abstractmethod
   def set_screen_brightness(self, percentage):
@@ -107,9 +149,6 @@ class HardwareBase(ABC):
   def get_modem_version(self):
     return None
 
-  def get_modem_nv(self):
-    return None
-
   @abstractmethod
   def get_modem_temperatures(self):
     pass

system/hardware/hardwared.py

@@ -51,39 +51,6 @@ OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
-tz_by_type: dict[str, int] | None = None
-def populate_tz_by_type():
-  global tz_by_type
-  tz_by_type = {}
-  for n in os.listdir("/sys/devices/virtual/thermal"):
-    if not n.startswith("thermal_zone"):
-      continue
-    with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
-
-def read_tz(x):
-  if x is None:
-    return 0
-
-  if isinstance(x, str):
-    if tz_by_type is None:
-      populate_tz_by_type()
-    x = tz_by_type[x]
-
-  try:
-    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
-      return int(f.read())
-  except FileNotFoundError:
-    return 0
-
-
-def read_thermal(thermal_config):
-  dat = messaging.new_message('deviceState', valid=True)
-  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
-  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
-  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
-  return dat
 
 
 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
@@ -99,7 +66,6 @@ def hw_state_thread(end_event, hw_queue):
   prev_hw_state = None
 
   modem_version = None
-  modem_nv = None
   modem_configured = False
   modem_restarted = False
   modem_missing_count = 0
@@ -114,12 +80,11 @@ def hw_state_thread(end_event, hw_queue):
           modem_temps = prev_hw_state.modem_temps
 
         # Log modem version once
-        if AGNOS and ((modem_version is None) or (modem_nv is None)):
+        if AGNOS and (modem_version is None):
           modem_version = HARDWARE.get_modem_version()
-          modem_nv = HARDWARE.get_modem_nv()
 
-          if (modem_version is not None) and (modem_nv is not None):
-            cloudlog.event("modem version", version=modem_version, nv=modem_nv)
+          if modem_version is not None:
+            cloudlog.event("modem version", version=modem_version)
           else:
             if not modem_restarted:
               # TODO: we may be able to remove this with a MM update
@@ -234,7 +199,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
-    msg = read_thermal(thermal_config)
+    msg = messaging.new_message('deviceState', valid=True)
+    msg.deviceState = thermal_config.get_msg()
     msg.deviceState.deviceType = HARDWARE.get_device_type()
 
     try:
@@ -264,13 +230,13 @@ def hardware_thread(end_event, hw_queue) -> None:
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
-      max(msg.deviceState.cpuTempC),
-      max(msg.deviceState.gpuTempC),
+      max(msg.deviceState.cpuTempC, default=0.),
+      max(msg.deviceState.gpuTempC, default=0.),
     ]
     offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))
 
     # this drives the thermal status while onroad
-    temp_sources.append(max(msg.deviceState.pmicTempC))
+    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 

system/hardware/hw.h

@@ -47,4 +47,12 @@ namespace Path {
     }
     return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
   }
+
+ inline std::string shm_path() {
+    #ifdef __APPLE__
+     return"/tmp";
+    #else
+     return "/dev/shm";
+    #endif
+ }
 }  // namespace Path

system/hardware/hw.py

@@ -1,4 +1,5 @@
 import os
+import platform
 from pathlib import Path
 
 from openpilot.system.hardware import PC
@@ -56,3 +57,9 @@ class Paths:
       return Paths.comma_home()
     else:
       return "/tmp/.comma"
+
+  @staticmethod
+  def shm_path() -> str:
+    if PC and platform.system() == "Darwin":
+      return "/tmp"  # This is not really shared memory on macOS, but it's the closest we can get
+    return "/dev/shm"

system/hardware/pc/hardware.py

@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -21,7 +21,7 @@ class Pc(HardwareBase):
     print("uninstall")
 
   def get_imei(self, slot):
-    return "%015d" % random.randint(0, 1 << 32)
+    return f"{random.randint(0, 1 << 32):015d}"
 
   def get_serial(self):
     return "cccccccc"
@@ -53,9 +53,6 @@ class Pc(HardwareBase):
   def shutdown(self):
     print("SHUTDOWN!")
 
-  def get_thermal_config(self):
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1))
-
   def set_screen_brightness(self, percentage):
     pass
 

system/hardware/tici/agnos.json

@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
-    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "size": 16414720,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
+    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "size": 16418816,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
-    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
-    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
+    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
     "size": 4404019200,
     "sparse": false,
     "full_check": false,
@@ -21,9 +21,9 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz",
-    "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
-    "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
+    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz",
-    "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
-    "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
+    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
     "size": 98124,
     "sparse": false,
     "full_check": true,
@@ -51,9 +51,9 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz",
-    "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
-    "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
+    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
     "size": 40336,
     "sparse": false,
     "full_check": true,
@@ -61,9 +61,9 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4.img.xz",
-    "hash": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
-    "hash_raw": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
+    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
     "size": 184364,
     "sparse": false,
     "full_check": true,

system/hardware/tici/hardware.py

@@ -10,7 +10,7 @@ from pathlib import Path
 
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -294,19 +294,6 @@ class Tici(HardwareBase):
     except Exception:
       return None
 
-  def get_modem_nv(self):
-    timeout = 0.2  # Default timeout is too short
-    files = (
-      '/nv/item_files/modem/mmode/ue_usage_setting',
-      '/nv/item_files/ims/IMS_enable',
-      '/nv/item_files/modem/mmode/sms_only',
-    )
-    try:
-      modem = self.get_modem()
-      return { fn: str(modem.Command(f'AT+QNVFR="{fn}"', math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)) for fn in files}
-    except Exception:
-      return None
-
   def get_modem_temperatures(self):
     timeout = 0.2  # Default timeout is too short
     try:
@@ -336,12 +323,19 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
-                              ["cpu%d-gold-usr" % i for i in range(4)], 1000),
-                         gpu=(("gpu0-usr", "gpu1-usr"), 1000),
-                         mem=("ddr-usr", 1000),
-                         bat=(None, 1),
-                         pmic=(("pm8998_tz", "pm8005_tz"), 1000))
+    intake, exhaust, case = None, None, None
+    if self.get_device_type() == "mici":
+      case = ThermalZone("case")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
+                         intake=intake,
+                         exhaust=exhaust,
+                         case=case)
 
   def set_screen_brightness(self, percentage):
     try:
@@ -465,7 +459,24 @@ class Tici(HardwareBase):
       manufacturer = None
 
     cmds = []
-    if manufacturer == 'Cavli Inc.':
+
+    if self.get_device_type() in ("tici", "tizi"):
+      # clear out old blue prime initial APN
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
+
+      cmds += [
+        # configure modem as data-centric
+        'AT+QNVW=5280,0,"0102000000000000"',
+        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+      ]
+      if self.get_device_type() == "tizi":
+        # SIM hot swap, not routed on tici
+        cmds += [
+          'AT+QSIMDET=1,0',
+          'AT+QSIMSTAT=1',
+        ]
+    elif manufacturer == 'Cavli Inc.':
       cmds += [
         'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
         'AT$QCSIMSLEEP=0',  # disable SIM sleep
@@ -476,21 +487,17 @@ class Tici(HardwareBase):
         'AT$QCNETDEVCTL=3,1',
       ]
     else:
-      cmds += [
-        # configure modem as data-centric
-        'AT+QNVW=5280,0,"0102000000000000"',
-        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-      ]
-      if self.get_device_type() == "tizi":
+      # this modem gets upset with too many AT commands
+      if sim_id is None or len(sim_id) == 0:
         cmds += [
-          # SIM hot swap
-          'AT+QSIMDET=1,0',
-          'AT+QSIMSTAT=1',
+          # SIM sleep disable
+          'AT$QCSIMSLEEP=0',
+          'AT$QCSIMCFG=SimPowerSave,0',
+
+          # ethernet config
+          'AT$QCPCFG=usbNet,1',
         ]
 
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
     for cmd in cmds:
       try:
         modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
@@ -588,3 +595,4 @@ if __name__ == "__main__":
   t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
+  print(t.get_sim_info())

system/hardware/tici/pins.py

@@ -7,8 +7,10 @@ class GPIO:
   UBLOX_RST_N = 32
   UBLOX_SAFEBOOT_N = 33
   GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN
+
   STM_RST_N = 124
   STM_BOOT0 = 134
+  STM_PWR_EN_N = 41 # because STM32H7 RST doesn't generate a full power-on-reset
 
   SIREN = 42
   SOM_ST_IO = 49

system/loggerd/bootlog.cc

@@ -27,7 +27,7 @@ static kj::Array<capnp::word> build_boot_log() {
 
   // Gather output of commands
   std::vector<std::string> bootlog_commands = {
-    "[ -x \"$(command -v journalctl)\" ] && journalctl",
+    "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic",
   };
 
   if (Hardware::TICI()) {

system/loggerd/uploader.py

@@ -24,7 +24,11 @@ NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
 UPLOAD_ATTR_VALUE = b'1'
 
-UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+MAX_UPLOAD_SIZES = {
+  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
+                   # bugs, including ones that can cause massive log sizes
+  "qcam": 5*1e6,
+}
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
@@ -170,7 +174,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:

system/manager/manager.py

@@ -17,7 +17,7 @@ from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
-
+from openpilot.system.hardware.hw import Paths
 
 
 def manager_init() -> None:
@@ -52,11 +52,11 @@ def manager_init() -> None:
 
   # Create folders needed for msgq
   try:
-    os.mkdir("/dev/shm")
+    os.mkdir(Paths.shm_path())
   except FileExistsError:
     pass
   except PermissionError:
-    print("WARNING: failed to make /dev/shm")
+    print(f"WARNING: failed to make {Paths.shm_path()}")
 
   # set version params
   params.put("Version", build_metadata.openpilot.version)

system/manager/process.py

@@ -16,8 +16,9 @@ import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 
-WATCHDOG_FN = "/dev/shm/wd_"
+WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
 

system/manager/process_config.py

@@ -89,7 +89,6 @@ procs = [
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),

system/manager/test/test_manager.py

@@ -3,8 +3,6 @@ import pytest
 import signal
 import time
 
-from parameterized import parameterized
-
 from cereal import car
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
@@ -37,14 +35,6 @@ class TestManager:
     # TODO: ensure there are blacklisted procs until we have a dedicated test
     assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
 
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_startup_time(self, index):
-    start = time.monotonic()
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-    t = time.monotonic() - start
-    assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
-
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """

system/qcomgpsd/qcomgpsd.py

@@ -273,7 +273,7 @@ def main() -> NoReturn:
 
     (pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
     if pending_msgs > 0:
-      cloudlog.debug("have %d pending messages" % pending_msgs)
+      cloudlog.debug(f"have {pending_msgs} pending messages")
     assert log_outer_length == len(inner_log_packet)
 
     (log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
@@ -283,7 +283,7 @@ def main() -> NoReturn:
       continue
 
     if DEBUG:
-      print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
+      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)

system/qcomgpsd/structs.py

@@ -322,7 +322,7 @@ def parse_struct(ss):
       cnt = int(nam.split("[")[1].split("]")[0])
       st += st[-1]*(cnt-1)
       for i in range(cnt):
-        nams.append("%s[%d]" % (nam.split("[")[0], i))
+        nams.append(f'{nam.split("[")[0]}[{i}]')
     else:
       nams.append(nam)
   return st, nams

system/qcomgpsd/tests/test_qcomgpsd.py

@@ -16,6 +16,7 @@ GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 class TestRawgpsd:
   @classmethod
   def setup_class(cls):
+    os.environ['GPS_COLD_START'] = '1'
     os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
@@ -27,7 +28,6 @@ class TestRawgpsd:
     os.system("sudo systemctl restart ModemManager lte")
 
   def setup_method(self):
-    at_cmd("AT+QGPSDEL=0")
     self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
 
   def teardown_method(self):

system/ubloxd/pigeond.py

@@ -9,6 +9,7 @@ import urllib.parse
 from datetime import datetime, UTC
 
 from cereal import messaging
+from openpilot.common.time import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import TICI
@@ -196,8 +197,8 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
         cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
 
       # sending time to ublox
-      t_now = datetime.now(UTC).replace(tzinfo=None)
-      if t_now >= datetime(2021, 6, 1):
+      if system_time_valid():
+        t_now = datetime.now(UTC).replace(tzinfo=None)
         cloudlog.warning("Sending current time to ublox")
 
         # UBX-MGA-INI-TIME_UTC

system/ubloxd/tests/print_gps_stats.py

@@ -13,7 +13,7 @@ if __name__ == "__main__":
       cnos = []
       for m in ug.measurementReport.measurements:
         cnos.append(m.cno)
-      print("Sats: %d   Accuracy: %.2f m   cnos" % (ug.measurementReport.numMeas, gle.horizontalAccuracy), sorted(cnos))
+      print(f"Sats: {ug.measurementReport.numMeas}   Accuracy: {gle.horizontalAccuracy:.2f} m   cnos", sorted(cnos))
     except Exception:
       pass
     sm.update()