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FCA: S20 init
ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 )
2026-11-01 01:03:46 +08:00 · 2024-11-21 10:40:58 -05:00 · 2024-11-21 10:18:40 -05:00 · 2024-11-17 09:49:37 +01:00 · 2024-11-16 22:27:29 -05:00 · 2024-11-16 23:45:12 +01:00
92 changed files with 1064 additions and 728 deletions
@@ -24,7 +24,7 @@ jobs:
    # Check PR target branch
    - name: check branch
      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
@@ -37,17 +37,17 @@ jobs:
    # Welcome comment
    - name: "First timers PR"
      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
      with:
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        pr-message: |
            <!-- _(run_id **${{ github.run_id }}**)_ -->
            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
            * Before marking as "ready for review", ensure:
              * the goal is clearly stated in the description
              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
              * include a route or your device' dongle ID if relevant
-      
+
@@ -13,7 +13,7 @@ jobs:
  badges:
    name: create badges
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      contents: write
    steps:
@@ -29,7 +29,7 @@ jobs:

        git checkout --orphan badges
        git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
+        git config user.email "badge-researcher@sunnypilot.ai"
        git config user.name "Badge Researcher"

        git add translation_badge.svg
@@ -15,7 +15,7 @@ env:

 jobs:
  setup:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    runs-on: ubuntu-latest
    outputs:
      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
    with:
      run_number: ${{ matrix.run_number }}

@@ -12,10 +12,10 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
  tools_tests:
-    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/tools_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
@@ -34,13 +34,13 @@ jobs:

    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
+        repository: sunnypilot/sunnypilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        set -x

@@ -12,7 +12,7 @@ jobs:
  build_prebuilt:
    name: build prebuilt
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    env:
      PUSH_IMAGE: true
    permissions:
@@ -1,7 +1,7 @@
 name: release
 on:
  schedule:
-    - cron: '0 10 * * *'
+    - cron: '0 9 * * *'
  workflow_dispatch:

 jobs:
@@ -13,7 +13,7 @@ jobs:
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      checks: read
      contents: write
@@ -11,7 +11,7 @@ jobs:
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
      with:
@@ -4,6 +4,7 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,10 +15,11 @@ on:
        type: string

 concurrency:
-  group: selfdrive-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 }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
  PYTHONWARNINGS: error
  BASE_IMAGE: openpilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -31,6 +33,7 @@ env:

 jobs:
  build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                   ((github.event_name != 'pull_request') ||
@@ -52,7 +55,7 @@ jobs:
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Check submodules
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: release/check-submodules.sh
    - name: Build openpilot and run checks
@@ -101,27 +104,32 @@ jobs:
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

  build_mac:
+    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
    name: build macOS
-    runs-on: macos-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - run: git lfs pull
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
        # package install has DeprecationWarnings
        PYTHONWARNINGS: default
+    - run: git lfs pull
    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
    - name: Getting scons cache
-      uses: 'actions/cache@v4'
+      uses: ./.github/workflows/auto-cache
      with:
        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(nproc)

@@ -173,14 +181,19 @@ jobs:
    - 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: 15
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --timeout 60 -m 'not slow' && \
+        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        pytest ./selfdrive/ui/tests/test_translations.py"
+                        chmod -R 777 /tmp/comma_download_cache"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v4
      with:
@@ -210,7 +223,7 @@ jobs:
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: 30
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        chmod -R 777 /tmp/comma_download_cache && \
@@ -251,7 +264,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix:
-        job: [0, 1]
+        job: [0, 1, 2, 3]
    steps:
    - uses: actions/checkout@v4
      with:
@@ -266,12 +279,12 @@ jobs:
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
-      timeout-minutes: 20
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
-        NUM_JOBS: 2
+        NUM_JOBS: 4
        JOB_ID: ${{ matrix.job }}
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v4
@@ -384,5 +397,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -20,6 +20,18 @@ runs:
        echo "You should not run this action directly. Use setup-with-retry instead"
        exit 1

+    - shell: bash
+      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"
+          exit 1
+        fi
+
    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
    - shell: bash
      run: git lfs pull
@@ -20,7 +20,7 @@ jobs:
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
@@ -4,6 +4,7 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request:
  workflow_call:
    inputs:
@@ -3,23 +3,25 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
      - 'master'
+      - 'master-new'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

 env:
  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
  preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    name: preview
    runs-on: ubuntu-latest
    timeout-minutes: 20
@@ -58,13 +60,13 @@ jobs:
      - name: Getting master ui
        uses: actions/checkout@v4
        with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui

      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -84,7 +86,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
          A=($scenes)

          DIFF=""
@@ -106,13 +108,13 @@ jobs:
              DIFF="${DIFF}<table>"

              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"

              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
              DIFF="${DIFF}</tr>"

              DIFF="${DIFF}</table>"
@@ -125,7 +127,7 @@ jobs:
            if [[ $INDEX -eq 0 ]]; then
              TABLE="${TABLE}<tr>"
            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
              TABLE="${TABLE}</tr>"
            fi
@@ -76,6 +76,7 @@ selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl

 *.bz2
+*.zst

 build/

@@ -1,18 +1,18 @@
 [submodule "panda"]
  path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
  path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
@@ -66,7 +66,7 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
-${cmd}
+time ${cmd}
 END"""

    sh script: ssh_cmd, label: step_label
@@ -193,19 +193,19 @@ node {
    parallel (
      // tici tests
      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
          step("build openpilot", "cd system/manager && ./build.py"),
          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
        ])
      },
      'HW + Unit Tests': {
        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          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"),
@@ -221,12 +221,12 @@ node {
      'camerad': {
        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
@@ -242,7 +242,7 @@ node {
      },
      'replay': {
        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/"]]),
+          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/"]]),
        ])
      },
@@ -251,7 +251,7 @@ node {
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          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 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"),
        ])
@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC
@@ -4,8 +4,12 @@ Version 0.9.8 (2024-XX-XX)
  * Trained in brand new ML simulator
  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
-  * Reduced false positives related to passengers 
+  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for driving models
+  * Power draw reduced 0.5W, which means your device runs cooler 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune

 Version 0.9.7 (2024-06-13)
@@ -168,18 +168,18 @@ class TestMessaging:

    # this test doesn't work with ZMQ since multiprocessing interrupts it
    if "ZMQ" not in os.environ:
-      # wait 15 socket timeouts and make sure it's still retrying
+      # wait 5 socket timeouts and make sure it's still retrying
      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
      p.start()
-      time.sleep(sock_timeout*15)
+      time.sleep(sock_timeout*5)
      assert p.is_alive()
      p.terminate()

-    # wait 15 socket timeouts before sending
+    # wait 5 socket timeouts before sending
    msg = random_carstate()
-    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
    start_time = time.monotonic()
    recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert (time.monotonic() - start_time) >= sock_timeout*5
    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)
@@ -63,14 +63,13 @@ class TestSubMaster:
  def test_update_timeout(self):
    sock = random_sock()
    sm = messaging.SubMaster([sock,])
-    for _ in range(5):
-      timeout = random.randrange(1000, 5000)
-      start_time = time.monotonic()
-      sm.update(timeout)
-      t = time.monotonic() - start_time
-      assert t >= timeout/1000.
-      assert t < 5
-      assert not any(sm.updated.values())
+    timeout = random.randrange(1000, 3000)
+    start_time = time.monotonic()
+    sm.update(timeout)
+    t = time.monotonic() - start_time
+    assert t >= timeout/1000.
+    assert t < 3
+    assert not any(sm.updated.values())

  def test_avg_frequency_checks(self):
    for poll in (True, False):
@@ -36,11 +36,16 @@ class UnknownKeyName(Exception):

 cdef class Params:
  cdef c_Params* p
+  cdef str d

  def __cinit__(self, d=""):
    cdef string path = <string>d.encode()
    with nogil:
      self.p = new c_Params(path)
+    self.d = d
+
+  def __reduce__(self):
+    return (type(self), (self.d,))

  def __dealloc__(self):
    del self.p
@@ -59,15 +59,13 @@ class PIDController:
    if override:
      self.i -= self.i_unwind_rate * float(np.sign(self.i))
    else:
-      i = self.i + error * self.k_i * self.i_rate
-      control = self.p + i + self.d + self.f
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate

-      # Update when changing i will move the control away from the limits
-      # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-         not freeze_integrator:
-        self.i = i
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)

    control = self.p + self.i + self.d + self.f

@@ -30,21 +30,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|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=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|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=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|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=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|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=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|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=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|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=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|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=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|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=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F 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=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 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=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|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=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 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=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>||
+|Lincoln|Aviator 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 2020-24">Buy Here</a></sub></details>||
+|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>||
@@ -1,8 +1,9 @@
 # openpilot glossary

-* **route**:
+* **onroad**: openpilot's system state while ignition is on
+* **offroad**: openpilot's system state while ignition is off
+* **route**: a route is a recording of an onroad session
 * **segment**: routes are split into one minute chunks called segments.
-* **panda**: this is . See the repo.
-* **onroad**:
-* **offroad**:
-* **comma 3X**:
+* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
+* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
+* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
@@ -11,6 +11,9 @@ On the comma three, the serial console is exposed through a UART-to-USB chip, an

 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.

+  * Username: `comma`
+  * Password: `comma`
+
 ## SSH

 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
@@ -18,10 +18,12 @@ nav:
  - How-to:
    - Turn the speed blue: how-to/turn-the-speed-blue.md
    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    # - Make your first pull request: how-to/make-first-pr.md
    #- Replay a drive: how-to/replay-a-drive.md
  - Concepts:
    - Logs: concepts/logs.md
    - Safety: concepts/safety.md
+    - Glossary: concepts/glossary.md
  - Car Porting:
    - What is a car port?: car-porting/what-is-a-car-port.md
    - Porting a car brand: car-porting/brand-port.md
@@ -1,7 +1,12 @@
 #!/usr/bin/env bash

 while read hash submodule ref; do
-  git -C $submodule fetch --depth 4000 origin master
+  if [ "$submodule" = "tinygrad_repo" ]; then
+    echo "Skipping $submodule"
+    continue
+  fi
+
+  git -C $submodule fetch --depth 100 origin master
  git -C $submodule branch -r --contains $hash | grep "origin/master"
  if [ "$?" -eq 0 ]; then
    echo "$submodule ok"
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -4,6 +4,7 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
+from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -22,7 +23,8 @@ from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source_zst, openpilotci_source, internal_source, \
+                                          internal_source_zst, comma_api_source, auto_source
 from openpilot.tools.lib.route import SegmentName

 from panda.tests.libpanda import libpanda_py
@@ -126,7 +128,9 @@ class TestCarModelBase(unittest.TestCase):
      segment_range = f"{cls.test_route.route}/{seg}"

      try:
-        lr = LogReader(segment_range)
+        source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
+                                              [openpilotci_source_zst, openpilotci_source, comma_api_source])
+        lr = LogReader(segment_range, source=source)
        return cls.get_testing_data_from_logreader(lr)
      except (LogsUnavailable, AssertionError):
        pass
@@ -209,7 +209,7 @@ class Controls:
      self.update()
      CC, lac_log = self.state_control()
      self.publish(CC, lac_log)
-      rk.keep_time()
+      rk.monitor_time()

 def main():
  config_realtime_process(4, Priority.CTRL_HIGH)
@@ -139,7 +139,6 @@ def main():
  pm = PubMaster(["driverStateV2"])

  calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  # last = 0

  while True:
    buf = vipc_client.recv()
@@ -155,8 +154,6 @@ def main():
    t2 = time.perf_counter()

    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
-    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
-    # last = t1


 if __name__ == "__main__":
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
-size 50309976
+oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
+size 50320138
@@ -306,6 +306,16 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
    LOGW("reading hwmon took %lfms", read_time);
  }

+  // fall back to panda's voltage and current measurement
+  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
+    auto health_opt = panda->get_state();
+    if (health_opt) {
+      health_t health = *health_opt;
+      ps.setVoltage(health.voltage_pkt);
+      ps.setCurrent(health.current_pkt);
+    }
+  }
+
  uint16_t fan_speed_rpm = panda->get_fan_speed();
  ps.setFanSpeedRpm(fan_speed_rpm);

@@ -6,6 +6,7 @@ import capnp
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
+from opendbc.car.ford.values import CAR as FORD, FordFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -270,6 +271,8 @@ def migrate_pandaStates(msgs):
    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
  }
+  # TODO: get new Ford route
+  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}

  # Migrate safety param base on carParams
  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
@@ -58,10 +58,18 @@ def generate_report(proposed, master, tmp, commit):
                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                    ], "modelV2")
+  DriverStateV2_Plots = zl([
+                     (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
+                     (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
+                     (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
+                     (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
+                     (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
+                     (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
+                    ], "driverStateV2")

  return [plot(map(v[0], get_event(proposed, event)), \
               map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
-               for v,event in [*ModelV2_Plots]]
+               for v,event in ([*ModelV2_Plots] + [*DriverStateV2_Plots])]

 def create_table(title, files, link, open_table=False):
  if not files:
@@ -1 +1 @@
-992ac80ef848afb85562ca24b1c5a3d410aacd05
+dd0a40182707975c94a40d19198cd60c88735199
@@ -1,4 +1,5 @@
 import copy
+import os
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
 from parameterized import parameterized
@@ -14,13 +15,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']

 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))

 class TestFuzzProcesses:

  # TODO: make this faster and increase examples
  @parameterized.expand(TEST_CASES)
  @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
+            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
  def test_fuzz_process(self, proc_name, cfg, data):
    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
@@ -56,7 +56,7 @@ segments = [
  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
  ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
+  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
@@ -193,6 +193,10 @@ if __name__ == "__main__":
        if cfg.proc_name not in tested_procs:
          continue

+        # to speed things up, we only test all segments on card
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+          continue
+
        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
        if args.update_refs:  # reference logs will not exist if routes were just regenerated
          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
@@ -86,7 +86,7 @@ safe_checkout() {
  rsync -a --delete $SOURCE_DIR $TEST_DIR
 }

-unsafe_checkout() {
+unsafe_checkout() {( set -e
  # checkout directly in test dir, leave old build products

  cd $TEST_DIR
@@ -105,7 +105,7 @@ unsafe_checkout() {

  git lfs pull
  (ulimit -n 65535 && git lfs prune)
-}
+)}

 export GIT_PACK_THREADS=8

@@ -115,8 +115,13 @@ if [ ! -d "$SOURCE_DIR" ]; then
 fi

 if [ ! -z "$UNSAFE" ]; then
-  echo "doing unsafe checkout"
+  echo "trying unsafe checkout"
+  set +e
  unsafe_checkout
+  if [[ "$?" -ne 0 ]]; then
+    safe_checkout
+  fi
+  set -e
 else
  echo "doing safe checkout"
  safe_checkout
@@ -10,8 +10,8 @@ import time
 import numpy as np
 import zstandard as zstd
 from collections import Counter, defaultdict
-from functools import cached_property
 from pathlib import Path
+from tabulate import tabulate

 from cereal import car, log
 import cereal.messaging as messaging
@@ -33,6 +33,9 @@ CPU usage budget
  should not exceed MAX_TOTAL_CPU
 """

+TEST_DURATION = 25
+LOG_OFFSET = 8
+
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
  # Baseline CPU usage by process
@@ -49,28 +52,28 @@ PROCS = {
  "selfdrive.controls.radard": 2.0,
  "selfdrive.modeld.modeld": 17.0,
  "selfdrive.modeld.dmonitoringmodeld": 11.0,
-  "system.hardware.hardwared": 3.87,
+  "system.hardware.hardwared": 4.0,
  "selfdrive.locationd.calibrationd": 2.0,
  "selfdrive.locationd.torqued": 5.0,
  "selfdrive.locationd.locationd": 25.0,
  "selfdrive.ui.soundd": 3.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 1.54,
-  "system.logmessaged": 0.2,
+  "./proclogd": 2.0,
+  "system.logmessaged": 1.0,
  "system.tombstoned": 0,
-  "./logcatd": 0,
+  "./logcatd": 1.0,
  "system.micd": 5.0,
  "system.timed": 0,
  "selfdrive.pandad.pandad": 0,
-  "system.statsd": 0.4,
-  "system.loggerd.uploader": (0.5, 15.0),
-  "system.loggerd.deleter": 0.1,
+  "system.statsd": 1.0,
+  "system.loggerd.uploader": 15.0,
+  "system.loggerd.deleter": 1.0,
 }

 PROCS.update({
  "tici": {
    "./pandad": 4.0,
-    "./ubloxd": 0.02,
+    "./ubloxd": 1.0,
    "system.ubloxd.pigeond": 6.0,
  },
  "tizi": {
@@ -98,6 +101,13 @@ TIMINGS = {
  "wideRoadCameraState": [1.5, 0.35],
 }

+LOGS_SIZE_RATE = {
+  "qlog": 0.0083,
+  "rlog": 0.1528,
+  "qcamera.ts": 0.03828,
+}
+LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
+

 def cputime_total(ct):
  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -124,7 +134,7 @@ class TestOnroad:
    if os.path.exists(Paths.log_root()):
      shutil.rmtree(Paths.log_root())

-    # start manager and run openpilot for a minute
+    # start manager and run openpilot for TEST_DURATION
    proc = None
    try:
      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
@@ -135,26 +145,24 @@ class TestOnroad:
        while sm.recv_frame['carState'] < 0:
          sm.update(1000)

-      # make sure we get at least two full segments
      route = None
      cls.segments = []
      with Timeout(300, "timed out waiting for logs"):
        while route is None:
          route = params.get("CurrentRoute", encoding="utf-8")
-          time.sleep(0.1)
+          time.sleep(0.01)

        # test car params caching
        params.put("CarParamsCache", car.CarParams().to_bytes())

-        while len(cls.segments) < 3:
+        while len(cls.segments) < 1:
          segs = set()
          if Path(Paths.log_root()).exists():
            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
          cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
-          time.sleep(2)
+          time.sleep(0.01)

-      # chop off last, incomplete segment
-      cls.segments = cls.segments[:-1]
+      time.sleep(TEST_DURATION)

    finally:
      cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
@@ -166,9 +174,8 @@ class TestOnroad:

    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]

-    # use the second segment by default as it's the first full segment
-    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
-    cls.log_path = cls.segments[1]
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
+    cls.log_path = cls.segments[0]

    cls.log_sizes = {}
    for f in cls.log_path.iterdir():
@@ -178,16 +185,13 @@ class TestOnroad:
        with open(f, 'rb') as ff:
          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6

+    cls.msgs = defaultdict(list)
+    for m in cls.lr:
+      cls.msgs[m.which()].append(m)

-  @cached_property
-  def service_msgs(self):
-    msgs = defaultdict(list)
-    for m in self.lr:
-      msgs[m.which()].append(m)
-    return msgs

  def test_service_frequencies(self, subtests):
-    for s, msgs in self.service_msgs.items():
+    for s, msgs in self.msgs.items():
      if s in ('initData', 'sentinel'):
        continue

@@ -196,10 +200,10 @@ class TestOnroad:
        continue

      with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))

  def test_cloudlog_size(self):
-    msgs = [m for m in self.lr if m.which() == 'logMessage']
+    msgs = self.msgs['logMessage']

    total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
    assert total_size < 3.5e5
@@ -210,16 +214,10 @@ class TestOnroad:

  def test_log_sizes(self):
    for f, sz in self.log_sizes.items():
-      if f.name == "qcamera.ts":
-        assert 2.15 < sz < 2.6
-      elif f.name == "qlog":
-        assert 0.4 < sz < 0.55
-      elif f.name == "rlog":
-        assert 5 < sz < 50
-      elif f.name.endswith('.hevc'):
-        assert 70 < sz < 80
-      else:
-        raise NotImplementedError
+      rate = LOGS_SIZE_RATE[f.name]
+      minn = rate * TEST_DURATION * 0.8
+      maxx = rate * TEST_DURATION * 1.2
+      assert minn < sz <  maxx

  def test_ui_timings(self):
    result = "\n"
@@ -227,7 +225,7 @@ class TestOnroad:
    result += "-------------- UI Draw Timing ------------------\n"
    result += "------------------------------------------------\n"

-    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
+    ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
    result += f"min  {min(ts):.2f}ms\n"
    result += f"max  {max(ts):.2f}ms\n"
    result += f"std  {np.std(ts):.2f}ms\n"
@@ -244,53 +242,44 @@ class TestOnroad:
    assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"

  def test_cpu_usage(self, subtests):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "------------------ CPU Usage -------------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("------------------ CPU Usage -------------------")
+    print("------------------------------------------------")

    plogs_by_proc = defaultdict(list)
-    for pl in self.service_msgs['procLog']:
+    for pl in self.msgs['procLog']:
      for x in pl.procLog.procs:
        if len(x.cmdline) > 0:
          n = list(x.cmdline)[0]
          plogs_by_proc[n].append(x)
-    print(plogs_by_proc.keys())

    cpu_ok = True
-    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
-    for proc_name, expected_cpu in PROCS.items():
+    dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
+    header = ['process', 'usage', 'expected', 'max allowed', 'test result']
+    rows = []
+    for proc_name, expected in PROCS.items():

-      err = ""
-      exp = "???"
-      cpu_usage = 0.
+      error = ""
+      usage = 0.
      x = plogs_by_proc[proc_name]
      if len(x) > 2:
        cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-        cpu_usage = cpu_time / dt * 100.
+        usage = cpu_time / dt * 100.

-        if isinstance(expected_cpu, tuple):
-          exp = str(expected_cpu)
-          minn, maxx = expected_cpu
-        else:
-          exp = f"{expected_cpu:5.2f}"
-          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
-          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
+        max_allowed = max(expected * 1.8, expected + 5.0)
+        if usage > max_allowed:
+          error = "❌ USING MORE CPU THAN EXPECTED ❌"
+          cpu_ok = False

-        if cpu_usage > maxx:
-          err = "using more CPU than expected"
-        elif cpu_usage < minn:
-          err = "using less CPU than expected"
      else:
-        err = "NO METRICS FOUND"
-
-      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
-      if len(err) > 0:
+        error = "❌ NO METRICS FOUND ❌"
        cpu_ok = False
-    result += "------------------------------------------------\n"
+
+      rows.append([proc_name, usage, expected, max_allowed, error or "✅"])
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))

    # Ensure there's no missing procs
-    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
+    all_procs = {p.name for p in self.msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
    for p in all_procs:
      with subtests.test(proc=p):
        assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@@ -299,16 +288,15 @@ class TestOnroad:
    procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
    with subtests.test(name="total CPU"):
      assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
-    result +=  "------------------------------------------------\n"
-    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
-    result +=  "------------------------------------------------\n"
-
-    print(result)
+    print("------------------------------------------------")
+    print(f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left")
+    print("------------------------------------------------")

    assert cpu_ok

  def test_memory_usage(self):
-    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    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
@@ -324,7 +312,9 @@ class TestOnroad:
    result += "-------------- ImgProc Timing ------------------\n"
    result += "------------------------------------------------\n"

-    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
+    ts = []
+    for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']:
+      ts.extend(getattr(m, s).processingTime for m in self.msgs[s])
    assert min(ts) < 0.025, f"high execution time: {min(ts)}"
    result += f"execution time: min  {min(ts):.5f}s\n"
    result += f"execution time: max  {max(ts):.5f}s\n"
@@ -357,7 +347,7 @@ class TestOnroad:

    cfgs = [("longitudinalPlan", 0.05, 0.05),]
    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -377,7 +367,7 @@ class TestOnroad:
      ("driverStateV2", 0.050, 0.026),
    ]
    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -388,33 +378,32 @@ class TestOnroad:

  def test_timings(self):
    passed = True
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "----------------- Service Timings --------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("----------------- Service Timings --------------")
+    print("------------------------------------------------")
+
+    header = ['service', 'max', 'min', 'mean', 'expected mean', 'rsd', 'max allowed rsd', 'test result']
+    rows = []
    for s, (maxmin, rsd) in TIMINGS.items():
-      msgs = [m.logMonoTime for m in self.service_msgs[s]]
+      offset = int(SERVICE_LIST[s].frequency * LOG_OFFSET)
+      msgs = [m.logMonoTime for m in self.msgs[s][offset:]]
      if not len(msgs):
        raise Exception(f"missing {s}")

      ts = np.diff(msgs) / 1e9
      dt = 1 / SERVICE_LIST[s].frequency

-      try:
-        np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
-        np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
-      except Exception as e:
-        result += str(e) + "\n"
-        passed = False
+      errors = []
+      if not np.allclose(np.mean(ts), dt, rtol=0.03, atol=0):
+        errors.append("❌ FAILED MEAN TIMING CHECK ❌")
+      if not np.allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, atol=0):
+        errors.append("❌ FAILED MAX/MIN TIMING CHECK ❌")
+      if (np.std(ts)/dt) > rsd:
+        errors.append("❌ FAILED RSD TIMING CHECK ❌")
+      passed = not errors and passed
+      rows.append([s, *(np.array([np.max(ts), np.min(ts), np.mean(ts), dt])*1e3), np.std(ts)/dt, rsd, "\n".join(errors) or "✅"])

-      if np.std(ts) / dt > rsd:
-        result += f"{s} - failed RSD timing check\n"
-        passed = False
-
-      result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
-      result += f"{''.ljust(40)}  {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
-    result += "="*67
-    print(result)
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
    assert passed

  @release_only
@@ -430,11 +419,12 @@ class TestOnroad:

  def test_engagable(self):
    no_entries = Counter()
-    for m in self.service_msgs['onroadEvents']:
+    for m in self.msgs['onroadEvents']:
      for evt in m.onroadEvents:
        if evt.noEntry:
          no_entries[evt.name] += 1

-    eng = [m.selfdriveState.engageable for m in self.service_msgs['selfdriveState']]
+    offset = int(SERVICE_LIST['selfdriveState'].frequency * LOG_OFFSET)
+    eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
    assert all(eng), \
           f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
@@ -92,7 +92,7 @@ if GetOption('extras') and arch != "Darwin":
    ("openpilot", release),
    ("openpilot_test", f"{release}-staging"),
    ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "master"),
+    ("openpilot_internal", "nightly-dev"),
  ]

  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
@@ -110,3 +110,5 @@ 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'])
@@ -3,6 +3,7 @@
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
+#include "common/util.h"

 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  // SSH keys
@@ -24,13 +25,32 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  addItem(longManeuverToggle);

  // Joystick and longitudinal maneuvers should be hidden on release branches
-  // also the toggles should be not available to change in onroad state
-  const bool is_release = params.getBool("IsReleaseBranch");
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<ParamControl *>()) {
-      btn->setVisible(!is_release);
-      btn->setEnabled(offroad);
-    }
-  });
+  is_release = params.getBool("IsReleaseBranch");

+  // Toggles should be not available to change in onroad state
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
+}
+
+void DeveloperPanel::updateToggles(bool _offroad) {
+  for (auto btn : findChildren<ParamControl *>()) {
+    btn->setVisible(!is_release);
+    btn->setEnabled(_offroad);
+  }
+
+  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+  } else {
+    longManeuverToggle->setEnabled(false);
+  }
+
+  offroad = _offroad;
+}
+
+void DeveloperPanel::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
 }
@@ -6,9 +6,15 @@ class DeveloperPanel : public ListWidget {
  Q_OBJECT
 public:
  explicit DeveloperPanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;

 private:
  Params params;
  ParamControl* joystickToggle;
  ParamControl* longManeuverToggle;
+  bool is_release;
+  bool offroad;
+
+private slots:
+  void updateToggles(bool _offroad);
 };
@@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
  connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
    auto current = params.get("GitBranch");
    QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
      auto i = branches.indexOf(b);
      if (i >= 0) {
        branches.removeAt(i);
@@ -25,6 +25,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];

  painter.save();

@@ -55,7 +56,7 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
    const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
    if (lead_data.getStatus()) {
      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
+      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &lead_vertices[i]);
    }
  }
 }
@@ -87,7 +88,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
  }
  max_idx = get_path_length_idx(model_position, max_distance);
-  mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
+  mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
@@ -29,6 +29,7 @@ private:
  bool prev_allow_throttle = true;
  float lane_line_probs[4] = {};
  float road_edge_stds[2] = {};
+  float path_offset_z = 1.22f;
  QPolygonF track_vertices;
  QPolygonF lane_line_vertices[4] = {};
  QPolygonF road_edge_vertices[2] = {};
@@ -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 < 7) {
+  if (voltage > 0 && voltage < 7) {
    addWidget(low_voltage());
  }

@@ -262,7 +262,7 @@ class ListWidget : public QWidget {
    outer_layout.addLayout(&inner_layout);
    inner_layout.setMargin(0);
    inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
+    outer_layout.addStretch(1);
  }
  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
@@ -0,0 +1 @@
+_spinner
@@ -0,0 +1,17 @@
+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)
@@ -0,0 +1,69 @@
+#include <algorithm>
+#include <cmath>
+#include <iostream>
+
+#include "selfdrive/ui/raylib/util.h"
+#include "third_party/raylib/include/raylib.h"
+
+constexpr int kProgressBarWidth = 1000;
+constexpr int kProgressBarHeight = 20;
+constexpr float kRotationRate = 12.0f;
+constexpr int kMargin = 200;
+constexpr int kTextureSize = 360;
+constexpr int kFontSize = 80;
+
+int main(int argc, char *argv[]) {
+  initApp("spinner", 30);
+
+  // Turn off input buffering for std::cin
+  std::cin.sync_with_stdio(false);
+  std::cin.tie(nullptr);
+
+  Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
+  Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);
+
+  float rotation = 0.0f;
+  std::string userInput;
+
+  while (!WindowShouldClose()) {
+    BeginDrawing();
+    ClearBackground(BLACK);
+
+    rotation = fmod(rotation + kRotationRate, 360.0f);
+    Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
+    const Vector2 spinnerOrigin{kTextureSize / 2.0f, kTextureSize / 2.0f};
+    const Vector2 commaPosition{center.x - kTextureSize / 2.0f, center.y - kTextureSize / 2.0f};
+
+    // Draw rotating spinner and static comma logo
+    DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
+                   {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
+                   spinnerOrigin, rotation, WHITE);
+    DrawTextureV(commaTexture, commaPosition, WHITE);
+
+    // Check for user input
+    if (std::cin.rdbuf()->in_avail() > 0) {
+      std::getline(std::cin, userInput);
+    }
+
+    // Display either a progress bar or user input text based on input
+    if (!userInput.empty()) {
+      float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
+      if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
+        Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
+        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
+
+        int progress = std::clamp(std::stoi(userInput), 0, 100);
+        bar.width *= progress / 100.0f;
+        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+      } else {
+        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
+      }
+    }
+
+    EndDrawing();
+  }
+
+  CloseWindow();
+  return 0;
+}
@@ -0,0 +1,56 @@
+#include "selfdrive/ui/raylib/util.h"
+
+#include <array>
+
+#undef GREEN
+#undef RED
+#undef YELLOW
+#include "common/swaglog.h"
+#include "system/hardware/hw.h"
+
+constexpr std::array<const char *, static_cast<int>(FontWeight::Count)> FONT_FILE_PATHS = {
+    "../../assets/fonts/Inter-Black.ttf",
+    "../../assets/fonts/Inter-Bold.ttf",
+    "../../assets/fonts/Inter-ExtraBold.ttf",
+    "../../assets/fonts/Inter-ExtraLight.ttf",
+    "../../assets/fonts/Inter-Medium.ttf",
+    "../../assets/fonts/Inter-Regular.ttf",
+    "../../assets/fonts/Inter-SemiBold.ttf",
+    "../../assets/fonts/Inter-Thin.ttf",
+};
+
+struct FontManager {
+  FontManager() {
+    for (int i = 0; i < fonts.size(); ++i) {
+      fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
+      SetTextureFilter(fonts[i].texture, TEXTURE_FILTER_TRILINEAR);
+    }
+  }
+
+  ~FontManager() {
+    for (auto &f : fonts) UnloadFont(f);
+  }
+
+  std::array<Font, static_cast<int>(FontWeight::Count)> fonts;
+};
+
+const Font& getFont(FontWeight weight) {
+  static FontManager font_manager;
+  return font_manager.fonts[(int)weight];
+}
+
+Texture2D LoadTextureResized(const char *fileName, int size) {
+  Image img = LoadImage(fileName);
+  ImageResize(&img, size, size);
+  Texture2D texture = LoadTextureFromImage(img);
+  SetTextureFilter(texture, TEXTURE_FILTER_TRILINEAR);
+  return texture;
+}
+
+void initApp(const char *title, int fps) {
+  Hardware::set_display_power(true);
+  Hardware::set_brightness(65);
+  // SetTraceLogLevel(LOG_NONE);
+  InitWindow(0, 0, title);
+  SetTargetFPS(fps);
+}
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <string>
+
+#include "third_party/raylib/include/raylib.h"
+
+enum class FontWeight {
+  Normal,
+  Bold,
+  ExtraBold,
+  ExtraLight,
+  Medium,
+  Regular,
+  SemiBold,
+  Thin,
+  Count // To represent the total number of fonts
+};
+
+void initApp(const char *title, int fps);
+const Font& getFont(FontWeight weight = FontWeight::Normal);
+Texture2D LoadTextureResized(const char *fileName, int size);
@@ -45,6 +45,11 @@ def setup_settings_toggles(click, pm: PubMaster):
  click(278, 650)
  time.sleep(UI_DELAY)

+def setup_settings_software(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 800)
+  time.sleep(UI_DELAY)
+
 def setup_settings_developer(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 960)
@@ -117,11 +122,8 @@ def setup_body(click, pm: PubMaster):

 def setup_keyboard(click, pm: PubMaster):
  setup_settings_device(click, pm)
-  click(250, 575)
-  click(2020, 218)
-  click(1830, 80)
-  click(2035, 808)
-  click(90, 480)
+  click(250, 965)
+  click(1930, 228)

 def setup_driver_camera(click, pm: PubMaster):
  setup_settings_device(click, pm)
@@ -180,6 +182,7 @@ CASES = {
  "pair_device": setup_pair_device,
  "settings_device": setup_settings_device,
  "settings_toggles": setup_settings_toggles,
+  "settings_software": setup_settings_software,
  "settings_developer": setup_settings_developer,
  "onroad": setup_onroad,
  "onroad_disengaged": setup_onroad_disengaged,
@@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع تصحيح أخطاء عصا التحكم</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع المناورة الطولية</translation>
    </message>
 </context>
 <context>
@@ -435,11 +435,11 @@
    </message>
    <message>
        <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>في انتظار البدء</translation>
    </message>
    <message>
        <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>النظام لا يستجيب</translation>
    </message>
 </context>
 <context>
@@ -631,7 +631,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>المطور</translation>
    </message>
 </context>
 <context>
@@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo de depuración de joystick</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo de maniobra longitudinal</translation>
    </message>
 </context>
 <context>
@@ -615,7 +615,7 @@ Esto puede tardar un minuto.</translation>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Desarrollador</translation>
    </message>
 </context>
 <context>
@@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>조이스틱 디버그 모드</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>롱컨 기동 모드</translation>
    </message>
 </context>
 <context>
@@ -611,7 +611,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>개발자</translation>
    </message>
 </context>
 <context>
@@ -145,7 +145,7 @@ void Device::resetInteractiveTimeout(int timeout) {

 void Device::updateBrightness(const UIState &s) {
  float clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor > 0) {
+  if (s.scene.started && s.scene.light_sensor >= 0) {
    clipped_brightness = s.scene.light_sensor;

    // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
@@ -114,7 +114,7 @@ bool CameraBuf::acquire(int expo_time) {
    cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
  } else {
    cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
-    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6;
+    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-9;
  }

  VisionIpcBufExtra extra = {
@@ -78,6 +78,7 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r

 AR0231::AR0231() {
  image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  pixel_size_mm = 0.003;
  data_word = true;
  frame_width = 1928;
@@ -144,16 +145,19 @@ AR0231::AR0231() {
    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
  };
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }

 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
@@ -22,6 +22,7 @@ const uint32_t os04c10_analog_gains_reg[] = {

 OS04C10::OS04C10() {
  image_sensor = cereal::FrameData::ImageSensor::OS04C10;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
  pixel_size_mm = 0.004;
  data_word = false;

@@ -70,7 +71,7 @@ OS04C10::OS04C10() {
  };
  for (int i = 0; i < 65; i++) {
    float fx = i / 64.0;
-    gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
+    gamma_lut_rgb.push_back((uint32_t)((10*fx)/(1+9*fx)*1023.0 + 0.5));
  }
  prepare_gamma_lut();
  linearization_lut = {
@@ -78,16 +79,19 @@ OS04C10::OS04C10() {
    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
  };
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
+  for (int i = 0; i < 884*2; i++) {
+    vignetting_lut.push_back(0xff);
+  }
 }

 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
@@ -52,11 +52,7 @@ float3 color_correct(float3 rgb) {
 }

 float3 apply_gamma(float3 rgb, int expo_time) {
-  return powr(rgb, 0.7);
-/*float s = log2((float)expo_time);
-  if (s < 6) {s = fmin(12.0 - s, 9.0);}
-  // log function adaptive to number of bits
-  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/
+  return (10 * rgb) / (1 + 9 * rgb);
 }

 #endif
@@ -25,6 +25,7 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35

 OX03C10::OX03C10() {
  image_sensor = cereal::FrameData::ImageSensor::OX03C10;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  pixel_size_mm = 0.003;
  data_word = false;
  frame_width = 1928;
@@ -80,9 +81,9 @@ OX03C10::OX03C10() {
    0x00200000, 0x00200000, 0x00200000, 0x00200000,
    0x00404080, 0x00404080, 0x00404080, 0x00404080,
    0x00804100, 0x00804100, 0x00804100, 0x00804100,
-    0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402,
-    0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070,
-    0x06044804, 0x06044804, 0x06044804, 0x06044804,
+    0x02014402, 0x02014402, 0x02014402, 0x02014402,
+    0x0402c804, 0x0402c804, 0x0402c804, 0x0402c804,
+    0x0805d00a, 0x0805d00a, 0x0805d00a, 0x0805d00a,
    0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
@@ -90,7 +91,7 @@ OX03C10::OX03C10() {
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
  for (int i = 0; i < 884*2; i++) {
    vignetting_lut.push_back(0xff);
  }
@@ -61,7 +61,7 @@ public:
  std::vector<i2c_random_wr_payload> init_reg_array;

  uint32_t bits_per_pixel;
-  uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
+  uint32_t bayer_pattern;
  uint32_t mipi_format;
  uint32_t mclk_frequency;
  uint32_t frame_data_type;
@@ -9,7 +9,7 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.system.manager.process_config import managed_processes

-TEST_TIMESPAN = 30
+TEST_TIMESPAN = 10
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
@@ -21,39 +21,40 @@ CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
@flaky(max_runs=3)
@pytest.mark.tici
 class TestCamerad:
-  def setup_method(self):
+  @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}

-    self.logs = defaultdict(list)
+    cls.logs = defaultdict(list)
    start_time = time.monotonic()
    while time.monotonic()- start_time < TEST_TIMESPAN:
      for cam, s in socks.items():
-        self.logs[cam] += messaging.drain_sock(s)
+        cls.logs[cam] += messaging.drain_sock(s)
      time.sleep(0.2)
    managed_processes['camerad'].stop()

-    self.log_by_frame_id = defaultdict(list)
-    self.sensor_type = None
-    for cam, msgs in self.logs.items():
-      if self.sensor_type is None:
-        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    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[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+      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:
-        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)

    # strip beginning and end
    for _ in range(3):
-      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
-      del self.log_by_frame_id[mn]
-      del self.log_by_frame_id[mx]
+      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]

  def test_frame_skips(self):
    skips = {}
@@ -148,8 +148,7 @@ def hw_state_thread(end_event, hw_queue):
        except queue.Full:
          pass

-        # TODO: remove this once the config is in AGNOS
-        if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0:
+        if not modem_configured and HARDWARE.get_modem_version() is not None:
          cloudlog.warning("configuring modem")
          HARDWARE.configure_modem()
          modem_configured = True
@@ -316,7 +315,7 @@ def hardware_thread(end_event, hw_queue) -> None:
    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)

    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI:
+    if TICI and HARDWARE.get_device_type() == "tici":
      if not os.path.isfile("/persist/comma/living-in-the-moment"):
        if not Path("/data/media").is_mount():
          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
@@ -467,8 +467,9 @@ class Tici(HardwareBase):
    cmds = []
    if manufacturer == 'Cavli Inc.':
      cmds += [
-        # use sim slot
-        'AT^SIMSWAP=1',
+        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
+        'AT$QCSIMSLEEP=0',  # disable SIM sleep
+        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable

        # ethernet config
        'AT$QCPCFG=usbNet,0',
@@ -61,7 +61,7 @@ class TestEncoder:
    time.sleep(1.0)
    managed_processes['camerad'].start()

-    num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15)))
+    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))

    # wait for loggerd to make the dir for first segment
    route_prefix_path = None
@@ -73,7 +73,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(1)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@@ -91,7 +91,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(1)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@@ -110,7 +110,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(1)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@@ -137,7 +137,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(1)
    self.join_thread()

    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@@ -155,7 +155,7 @@ class TestUploader(UploaderTestCase):
    f_paths = self.gen_files(lock=True, boot=False)

    # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(5)
+    time.sleep(1)
    self.join_thread()

    for f_path in f_paths:
@@ -168,7 +168,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(5)
+    time.sleep(1)
    self.join_thread()

    assert len(log_handler.upload_order) == 0, "File uploaded again"
@@ -176,7 +176,7 @@ class TestUploader(UploaderTestCase):
  def test_clear_locks_on_startup(self):
    f_paths = self.gen_files(lock=True, boot=False)
    self.start_thread()
-    time.sleep(1)
+    time.sleep(0.25)
    self.join_thread()

    for f_path in f_paths:
@@ -71,7 +71,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {

    uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
    uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
-    if (diff > 1*1e6) { // 1ms
+    if (diff > 10*1e6) { // 10ms
      LOGW("time jumped: %lu %lu", cur_offset, offset);
      offset = cur_offset;

@@ -63,8 +63,6 @@ def init(project: SentryProject) -> bool:
                  max_value_length=8192,
                  environment=env)

-  build_metadata = get_build_metadata()
-
  sentry_sdk.set_user({"id": dongle_id})
  sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
  sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
@@ -19,7 +19,7 @@ class TestLogmessaged:
    self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)

    # ensure sockets are connected
-    time.sleep(1)
+    time.sleep(0.5)
    messaging.drain_sock(self.sock)
    messaging.drain_sock(self.error_sock)

@@ -35,7 +35,7 @@ class TestLogmessaged:
    msgs = [f"abc {i}" for i in range(10)]
    for m in msgs:
      cloudlog.error(m)
-    time.sleep(3)
+    time.sleep(0.5)
    m = messaging.drain_sock(self.sock)
    assert len(m) == len(msgs)
    assert len(self._get_log_files()) >= 1
@@ -45,7 +45,7 @@ class TestLogmessaged:
    msg = "a"*3*1024*1024
    for _ in range(n):
      cloudlog.info(msg)
-    time.sleep(3)
+    time.sleep(0.5)

    msgs = messaging.drain_sock(self.sock)
    assert len(msgs) == 0
@@ -51,7 +51,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
    emit static_main_win->updateProgressBar(cur, total, success);
  });
  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
+    if (type == QtDebugMsg) return;
    emit static_main_win->showMessage(msg, 2000);
  });
  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
@@ -1,14 +1,12 @@
 #include "tools/cabana/videowidget.h"

 #include <algorithm>
-#include <utility>

 #include <QAction>
 #include <QActionGroup>
 #include <QMenu>
 #include <QMouseEvent>
 #include <QPainter>
-#include <QStackedLayout>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
 #include <QtConcurrent>
@@ -27,9 +25,7 @@ static const QColor timeline_colors[] = {

 static Replay *getReplay() {
  auto stream = qobject_cast<ReplayStream *>(can);
-  if (!stream) return nullptr;
-
-  return stream->getReplay();
+  return stream ? stream->getReplay() : nullptr;
 }

 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
@@ -144,13 +140,9 @@ QWidget *VideoWidget::createCameraWidget() {
  camera_tab->setAutoHide(true);
  camera_tab->setExpanding(false);

-  QStackedLayout *stacked = new QStackedLayout();
-  stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
+  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
  cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
  cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  stacked->addWidget(alert_label = new InfoLabel(this));
-  l->addLayout(stacked);

  l->addWidget(slider = new Slider(w));
  slider->setSingleStep(0);
@@ -165,16 +157,13 @@ QWidget *VideoWidget::createCameraWidget() {
  QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
    if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
  });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
+  slider->installEventFilter(cam_widget);
  return w;
 }

 void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
-  static const QString stream_names[] = {
-    [VISION_STREAM_ROAD] = "Road camera",
-    [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
-    [VISION_STREAM_DRIVER] = "Driver camera"};
-
+  static const QString stream_names[] = {"Road camera", "Driver camera", "Wide road camera"};
  for (int i = 0; i < streams.size(); ++i) {
    if (camera_tab->count() <= i) {
      camera_tab->addTab(QString());
@@ -189,16 +178,9 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }

 void VideoWidget::loopPlaybackClicked() {
-  auto replay = getReplay();
-  if (!replay) return;
-
-  if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
-    replay->removeFlag(REPLAY_FLAG_NO_LOOP);
-    loop_btn->setIcon("repeat");
-  } else {
-    replay->addFlag(REPLAY_FLAG_NO_LOOP);
-    loop_btn->setIcon("repeat-1");
-  }
+  bool is_looping = getReplay()->loop();
+  getReplay()->setLoop(!is_looping);
+  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
 }

 void VideoWidget::timeRangeChanged() {
@@ -223,7 +205,9 @@ void VideoWidget::updateState() {
    if (!slider->isSliderDown()) {
      slider->setCurrentSecond(can->currentSec());
    }
-    alert_label->showAlert(slider->alertInfo(can->currentSec()));
+    if (camera_tab->count() == 0) {  //  No streams available
+      cam_widget->update();          // Manually refresh to show alert events
+    }
    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                             formatTime(slider->maximum() / slider->factor)));
  } else {
@@ -239,41 +223,9 @@ void VideoWidget::updatePlayBtnState() {
 // Slider

 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
-  thumbnail_label = new InfoLabel(parent);
  setMouseTracking(true);
 }

-std::optional<Timeline::Entry> Slider::alertInfo(double seconds) {
-  return getReplay()->findAlertAtTime(seconds);
-}
-
-QPixmap Slider::thumbnail(double seconds)  {
-  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
-  return it != thumbnails.end() ? it.value() : QPixmap();
-}
-
-void Slider::setTimeRange(double min, double max) {
-  assert(min < max);
-  setRange(min * factor, max * factor);
-}
-
-void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
-  std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb = reader.getRoot<cereal::Event>().getThumbnail();
-      auto data = thumb.getThumbnail();
-      if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
-        QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
-        std::lock_guard lk(mutex);
-        thumbnails[thumb.getTimestampEof()] = scaled;
-      }
-    }
-  });
-  update();
-}
-
 void Slider::paintEvent(QPaintEvent *ev) {
  QPainter p(this);
  QRect r = rect().adjusted(0, 4, 0, -4);
@@ -288,9 +240,8 @@ void Slider::paintEvent(QPaintEvent *ev) {
    p.fillRect(r, color);
  };

-  auto replay = getReplay();
-  if (replay) {
-    for (const auto &entry: *replay->getTimeline()) {
+  if (auto replay = getReplay()) {
+    for (const auto &entry : *replay->getTimeline()) {
      fillRange(entry.start_time, entry.end_time, timeline_colors[(int)entry.type]);
    }

@@ -319,84 +270,7 @@ void Slider::mousePressEvent(QMouseEvent *e) {
  }
 }

-void Slider::mouseMoveEvent(QMouseEvent *e) {
-  int pos = std::clamp(e->pos().x(), 0, width());
-  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
-  QPixmap thumb = thumbnail(seconds);
-  if (!thumb.isNull()) {
-    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
-    int y = -thumb.height() - THUMBNAIL_MARGIN;
-    thumbnail_label->showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
-  } else {
-    thumbnail_label->hide();
-  }
-  QSlider::mouseMoveEvent(e);
-}
-
-bool Slider::event(QEvent *event) {
-  switch (event->type()) {
-    case QEvent::WindowActivate:
-    case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
-    case QEvent::FocusOut:
-    case QEvent::Leave:
-      thumbnail_label->hide();
-      break;
-    default:
-      break;
-  }
-  return QSlider::event(event);
-}
-
-// InfoLabel
-
-InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
-  setAttribute(Qt::WA_ShowWithoutActivating);
-  setAttribute(Qt::WA_TransparentForMouseEvents);
-  setVisible(false);
-}
-
-void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert) {
-  second = sec;
-  pixmap = pm;
-  alert_info = alert;
-  setGeometry(QRect(pt, pm.size()));
-  setVisible(true);
-  update();
-}
-
-void InfoLabel::showAlert(const std::optional<Timeline::Entry> &alert) {
-  alert_info = alert;
-  pixmap = {};
-  setVisible(alert_info.has_value());
-  update();
-}
-
-void InfoLabel::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-  if (!pixmap.isNull()) {
-    p.drawPixmap(0, 0, pixmap);
-    p.drawRect(rect());
-    p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
-  }
-  if (alert_info) {
-    QColor color = timeline_colors[int(alert_info->type)];
-    color.setAlphaF(0.5);
-    QString text = QString::fromStdString(alert_info->text1);
-    if (!alert_info->text2.empty()) text += "\n" + QString::fromStdString(alert_info->text2);
-
-    if (!pixmap.isNull()) {
-      QFont font;
-      font.setPixelSize(11);
-      p.setFont(font);
-    }
-    QRect text_rect = rect().adjusted(1, 1, -1, -1);
-    QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
-    p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
-    p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
-  }
-}
+// StreamCameraView

 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
    : CameraWidget(stream_name, stream_type, parent) {
@@ -404,15 +278,93 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str
  fade_animation->setDuration(500);
  fade_animation->setStartValue(0.2f);
  fade_animation->setEndValue(0.7f);
+  fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
+  connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
+}
+
+void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
+  std::mutex mutex;
+  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
+    if (e.which == cereal::Event::Which::THUMBNAIL) {
+      capnp::FlatArrayMessageReader reader(e.data);
+      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+      auto image_data = thumb_data.getThumbnail();
+      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+        std::lock_guard lock(mutex);
+        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+      }
+    }
+  });
+  update();
 }

 void StreamCameraView::paintGL() {
  CameraWidget::paintGL();

+  QPainter p(this);
+  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
+    drawAlert(p, rect(), *alert);
+  }
+  if (thumbnail_pt_) {
+    drawThumbnail(p);
+  }
  if (can->isPaused()) {
-    QPainter p(this);
-    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
    p.setFont(QFont(font().family(), 16, QFont::Bold));
    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
  }
 }
+
+QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
+  QPixmap scaled = thumb.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+  QPainter p(&scaled);
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  p.drawRect(scaled.rect());
+  if (auto alert = getReplay()->findAlertAtTime(seconds)) {
+    p.setFont(QFont(font().family(), 10));
+    drawAlert(p, scaled.rect(), *alert);
+  }
+  return scaled;
+}
+
+void StreamCameraView::drawThumbnail(QPainter &p) {
+  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
+  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
+  double seconds = min_sec + pos * (max_sec - min_sec) / width();
+
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
+  if (it != thumbnails.end()) {
+    const QPixmap &thumb = it.value();
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
+    int y = height() - thumb.height() - THUMBNAIL_MARGIN;
+
+    p.drawPixmap(x, y, thumb);
+    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN, Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds));
+  }
+}
+
+void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  QColor color = timeline_colors[int(alert.type)];
+  color.setAlphaF(0.5);
+  QString text = QString::fromStdString(alert.text1);
+  if (!alert.text2.empty()) text += "\n" + QString::fromStdString(alert.text2);
+
+  QRect text_rect = rect.adjusted(1, 1, -1, -1);
+  QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+  p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
+  p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+}
+
+bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
+  if (event->type() == QEvent::MouseMove) {
+    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
+    update();
+  } else if (event->type() == QEvent::Leave) {
+    thumbnail_pt_ = std::nullopt;
+    update();
+  }
+  return false;
+}
@@ -1,6 +1,5 @@
 #pragma once

-#include <map>
 #include <memory>
 #include <optional>
 #include <set>
@@ -18,17 +17,6 @@
 #include "tools/replay/logreader.h"
 #include "tools/cabana/streams/replaystream.h"

-class InfoLabel : public QWidget {
-public:
-  InfoLabel(QWidget *parent);
-  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert);
-  void showAlert(const std::optional<Timeline::Entry> &alert);
-  void paintEvent(QPaintEvent *event) override;
-  QPixmap pixmap;
-  QString second;
-  std::optional<Timeline::Entry> alert_info;
-};
-
 class Slider : public QSlider {
  Q_OBJECT

@@ -36,40 +24,30 @@ public:
  Slider(QWidget *parent);
  double currentSecond() const { return value() / factor; }
  void setCurrentSecond(double sec) { setValue(sec * factor); }
-  void setTimeRange(double min, double max);
-  std::optional<Timeline::Entry> alertInfo(double sec);
-  QPixmap thumbnail(double sec);
-  void parseQLog(std::shared_ptr<LogReader> qlog);
-
-  const double factor = 1000.0;
-
-private:
+  void setTimeRange(double min, double max) { setRange(min * factor, max * factor); }
  void mousePressEvent(QMouseEvent *e) override;
-  void mouseMoveEvent(QMouseEvent *e) override;
-  bool event(QEvent *event) override;
  void paintEvent(QPaintEvent *ev) override;
-
-  QMap<uint64_t, QPixmap> thumbnails;
-  InfoLabel *thumbnail_label;
+  const double factor = 1000.0;
 };

 class StreamCameraView : public CameraWidget {
  Q_OBJECT
-  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)

 public:
  StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
  void paintGL() override;
  void showPausedOverlay() { fade_animation->start(); }
-  float overlayOpacity() const { return overlay_opacity; }
-  void setOverlayOpacity(float opacity) {
-    overlay_opacity = opacity;
-    update();
-  }
+  void parseQLog(std::shared_ptr<LogReader> qlog);

 private:
-  float overlay_opacity;
+  QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
+  void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
+  void drawThumbnail(QPainter &p);
+  bool eventFilter(QObject *obj, QEvent *event) override;
+
  QPropertyAnimation *fade_animation;
+  QMap<uint64_t, QPixmap> thumbnails;
+  std::optional<QPoint> thumbnail_pt_;
 };

 class VideoWidget : public QFrame {
@@ -96,7 +74,6 @@ protected:
  ToolButton *loop_btn = nullptr;
  QToolButton *speed_btn = nullptr;
  ToolButton *skip_to_end_btn = nullptr;
-  InfoLabel *alert_label = nullptr;
  Slider *slider = nullptr;
  QTabBar *camera_tab = nullptr;
 };
@@ -24,9 +24,8 @@ function update_uv() {
 if ! command -v "uv" > /dev/null 2>&1; then
  echo "installing uv..."
  curl -LsSf https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.cargo/env"
-  ADD_PATH_CMD=". \"$UV_BIN\""
-  eval "$ADD_PATH_CMD"
+  UV_BIN="$HOME/.local/bin"
+  PATH="$UV_BIN:$PATH"
 fi

 echo "updating uv..."
@@ -31,6 +31,8 @@ def joystickd_thread():
    CC.enabled = sm['selfdriveState'].enabled
    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
+    CC.hudControl.leadDistanceBars = 2

    actuators = CC.actuators

@@ -12,6 +12,7 @@ def internal_source_available(url=DATA_ENDPOINT):
    hostname = urlparse(url).hostname
    port = urlparse(url).port or 80
    with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
+      s.settimeout(0.5)
      s.connect((hostname, port))
    return True
  except (socket.gaierror, ConnectionRefusedError):
@@ -121,6 +121,7 @@ def report(platform, route, _description, CP, ID, maneuvers):

      buffer = io.BytesIO()
      fig.savefig(buffer, format='webp')
+      plt.close(fig)
      buffer.seek(0)
      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
      builder.append("</details>\n")
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import numpy as np
 from dataclasses import dataclass

 from cereal import messaging, car
@@ -10,8 +11,11 @@ from openpilot.common.swaglog import cloudlog

@dataclass
 class Action:
-  accel: float      # m/s^2
-  duration: float   # seconds
+  accel_bp: list[float]  # m/s^2
+  time_bp: list[float]   # seconds
+
+  def __post_init__(self):
+    assert len(self.accel_bp) == len(self.time_bp)


@dataclass
@@ -41,11 +45,12 @@ class Maneuver:
      return min(max(self.initial_speed - v_ego, -2.), 2.)

    action = self.actions[self._action_index]
+    action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)

    self._action_frames += 1

    # reached duration of action
-    if self._action_frames > (action.duration / DT_MDL):
+    if self._action_frames > (action.time_bp[-1] / DT_MDL):
      # next action
      if self._action_index < len(self.actions) - 1:
        self._action_index += 1
@@ -60,7 +65,7 @@ class Maneuver:
      else:
        self._finished = True

-    return action.accel
+    return float(action_accel)

  @property
  def finished(self):
@@ -74,47 +79,47 @@ class Maneuver:
 MANEUVERS = [
  Maneuver(
    "come to stop",
-    [Action(-0.5, 12)],
+    [Action([-0.5], [12])],
    repeat=2,
    initial_speed=5.,
  ),
  Maneuver(
-   "start from stop",
-   [Action(1.5, 5)],
-   repeat=2,
-   initial_speed=0.,
+    "start from stop",
+    [Action([1.5], [6])],
+    repeat=2,
+    initial_speed=0.,
  ),
  Maneuver(
-   "creep: alternate between +1m/s^2 and -1m/s^2",
-   [
-     Action(1, 3), Action(-1, 3),
-     Action(1, 3), Action(-1, 3),
-     Action(1, 3), Action(-1, 3),
-   ],
-   repeat=2,
-   initial_speed=0.,
+    "creep: alternate between +1m/s^2 and -1m/s^2",
+    [
+      Action([1], [3]), Action([-1], [3]),
+      Action([1], [3]), Action([-1], [3]),
+      Action([1], [3]), Action([-1], [3]),
+    ],
+    repeat=2,
+    initial_speed=0.,
  ),
  Maneuver(
    "brake step response: -1m/s^2 from 20mph",
-    [Action(-1, 3)],
+    [Action([-1], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "brake step response: -4m/s^2 from 20mph",
-    [Action(-4, 3)],
+    [Action([-4], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "gas step response: +1m/s^2 from 20mph",
-    [Action(1, 3)],
+    [Action([1], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "gas step response: +4m/s^2 from 20mph",
-    [Action(4, 3)],
+    [Action([4], [3])],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
@@ -10,7 +10,7 @@ else:
  base_libs.append('OpenCL')

 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "timeline.cc"]
+                  "route.cc", "util.cc", "timeline.cc", "api.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
@@ -0,0 +1,162 @@
+
+#include "tools/replay/api.h"
+
+#include <openssl/pem.h>
+#include <openssl/rsa.h>
+#include <openssl/evp.h>
+#include <openssl/sha.h>
+
+#include <cassert>
+#include <chrono>
+#include <iostream>
+
+#include "common/params.h"
+#include "common/version.h"
+#include "system/hardware/hw.h"
+
+namespace CommaApi2 {
+
+// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
+static const std::string base64url_chars =
+    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+    "abcdefghijklmnopqrstuvwxyz"
+    "0123456789-_";
+
+std::string base64url_encode(const std::string &in) {
+  std::string out;
+  int val = 0, valb = -6;
+  for (unsigned char c : in) {
+    val = (val << 8) + c;
+    valb += 8;
+    while (valb >= 0) {
+      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
+      valb -= 6;
+    }
+  }
+  if (valb > -6) {
+    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
+  }
+
+  return out;
+}
+
+EVP_PKEY *get_rsa_private_key() {
+  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
+  if (!rsa_private) {
+    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
+    if (!fp) {
+      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
+      return nullptr;
+    }
+    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
+    fclose(fp);
+  }
+  return rsa_private.get();
+}
+
+std::string rsa_sign(const std::string &data) {
+  EVP_PKEY *private_key = get_rsa_private_key();
+  if (!private_key) return {};
+
+  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
+  assert(mdctx != nullptr);
+
+  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
+  uint32_t sig_len;
+
+  EVP_SignInit(mdctx, EVP_sha256());
+  EVP_SignUpdate(mdctx, data.data(), data.size());
+  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
+
+  EVP_MD_CTX_free(mdctx);
+
+  assert(ret == 1);
+  assert(sig.size() == sig_len);
+  return std::string(sig.begin(), sig.begin() + sig_len);
+}
+
+std::string create_jwt(const json11::Json &extra, int exp_time) {
+  int now = std::chrono::seconds(std::time(nullptr)).count();
+  std::string dongle_id = Params().get("DongleId");
+
+  // Create header and payload
+  json11::Json header = json11::Json::object{{"alg", "RS256"}};
+  auto payload = json11::Json::object{
+      {"identity", dongle_id},
+      {"iat", now},
+      {"nbf", now},
+      {"exp", now + exp_time},
+  };
+  // Merge extra payload
+  for (const auto &item : extra.object_items()) {
+    payload[item.first] = item.second;
+  }
+
+  // JWT construction
+  std::string jwt = base64url_encode(header.dump()) + '.' +
+                    base64url_encode(json11::Json(payload).dump());
+
+  // Hash and sign
+  std::string hash(SHA256_DIGEST_LENGTH, '\0');
+  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
+  std::string signature = rsa_sign(hash);
+
+  return jwt + "." + base64url_encode(signature);
+}
+
+std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
+  if (use_jwt) {
+    return create_jwt(payloads, expiry);
+  }
+
+  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+  std::string err;
+  auto json = json11::Json::parse(token_json, err);
+  if (!err.empty()) {
+    std::cerr << "Error parsing auth.json " << err << std::endl;
+    return "";
+  }
+  return json["access_token"].string_value();
+}
+
+std::string httpGet(const std::string &url, long *response_code) {
+  CURL *curl = curl_easy_init();
+  assert(curl);
+
+  std::string readBuffer;
+  const std::string token = CommaApi2::create_token(!Hardware::PC());
+
+  // Set up the lambda for the write callback
+  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
+  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
+    size_t totalSize = size * nmemb;
+    userp->append((char *)contents, totalSize);
+    return totalSize;
+  };
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
+
+  // Handle headers
+  struct curl_slist *headers = nullptr;
+  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
+  if (!token.empty()) {
+    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
+  }
+  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
+
+  CURLcode res = curl_easy_perform(curl);
+
+  if (response_code) {
+    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
+  }
+
+  curl_slist_free_all(headers);
+  curl_easy_cleanup(curl);
+
+  return res == CURLE_OK ? readBuffer : std::string{};
+}
+
+}  // namespace CommaApi
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <curl/curl.h>
+#include <string>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+
+namespace CommaApi2 {
+
+const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
+std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
+std::string httpGet(const std::string &url, long *response_code = nullptr);
+
+}  // namespace CommaApi2
@@ -60,8 +60,8 @@ public:
  inline int segmentCacheLimit() const { return segment_cache_limit; }
  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); }
  inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
-  inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
-  inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
+  void setLoop(bool loop) { loop ? flags_ &= ~REPLAY_FLAG_NO_LOOP : flags_ |= REPLAY_FLAG_NO_LOOP; }
+  bool loop() const { return !(flags_ & REPLAY_FLAG_NO_LOOP); }
  inline const Route* route() const { return route_.get(); }
  inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
  inline std::time_t routeDateTime() const { return route_date_time_; }
@@ -1,14 +1,12 @@
 #include "tools/replay/route.h"

-#include <QEventLoop>
-#include <QJsonArray>
-#include <QJsonDocument>
 #include <array>
 #include <filesystem>
 #include <regex>

-#include "selfdrive/ui/qt/api.h"
+#include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
+#include "tools/replay/api.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"

@@ -72,42 +70,48 @@ bool Route::load() {
 }

 bool Route::loadFromServer(int retries) {
+  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
  for (int i = 1; i <= retries; ++i) {
-    QString result;
-    QEventLoop loop;
-    HttpRequest http(nullptr, !Hardware::PC());
-    QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) {
-      result = json;
-      loop.exit((int)err);
-    });
-    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files");
-    auto err = (QNetworkReply::NetworkError)loop.exec();
-    if (err == QNetworkReply::NoError) {
+    long response_code = 0;
+    std::string result = CommaApi2::httpGet(url, &response_code);
+    if (response_code == 200) {
      return loadFromJson(result);
-    } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
-      rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
-      err_ = RouteLoadError::AccessDenied;
-      return false;
-    } else if (err == QNetworkReply::ContentNotFoundError) {
+    }
+
+    if (response_code == 401 || response_code == 403) {
+      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
+      err_ = RouteLoadError::Unauthorized;
+      break;
+    }
+    if (response_code == 404) {
      rWarning("The specified route could not be found on the server.");
      err_ = RouteLoadError::FileNotFound;
-      return false;
-    } else {
-      err_ = RouteLoadError::NetworkError;
+      break;
    }
+
+    err_ = RouteLoadError::NetworkError;
    rWarning("Retrying %d/%d", i, retries);
    util::sleep_for(3000);
  }
+
  return false;
 }

-bool Route::loadFromJson(const QString &json) {
-  QRegExp rx(R"(\/(\d+)\/)");
-  for (const auto &value : QJsonDocument::fromJson(json.trimmed().toUtf8()).object()) {
-    for (const auto &url : value.toArray()) {
-      QString url_str = url.toString();
-      if (rx.indexIn(url_str) != -1) {
-        addFileToSegment(rx.cap(1).toInt(), url_str.toStdString());
+bool Route::loadFromJson(const std::string &json) {
+  const static std::regex rx(R"(\/(\d+)\/)");
+  std::string err;
+  auto jsonData = json11::Json::parse(json, err);
+  if (!err.empty()) {
+    rWarning("JSON parsing error: %s", err.c_str());
+    return false;
+  }
+  for (const auto &value : jsonData.object_items()) {
+    const auto &urlArray = value.second.array_items();
+    for (const auto &url : urlArray) {
+      std::string url_str = url.string_value();
+      std::smatch match;
+      if (std::regex_search(url_str, match, rx)) {
+        addFileToSegment(std::stoi(match[1]), url_str);
      }
    }
  }
@@ -7,14 +7,13 @@
 #include <thread>
 #include <vector>

-#include <QString>
-
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"

 enum class RouteLoadError {
  None,
+  Unauthorized,
  AccessDenied,
  NetworkError,
  FileNotFound,
@@ -54,7 +53,7 @@ public:
 protected:
  bool loadFromLocal();
  bool loadFromServer(int retries = 3);
-  bool loadFromJson(const QString &json);
+  bool loadFromJson(const std::string &json);
  void addFileToSegment(int seg_num, const std::string &file);
  RouteIdentifier route_ = {};
  std::string data_dir_;
@@ -23,42 +23,6 @@ bool download_to_file(const std::string &url, const std::string &local_file, int
  return false;
 }

-TEST_CASE("httpMultiPartDownload") {
-  char filename[] = "/tmp/XXXXXX";
-  close(mkstemp(filename));
-
-  const size_t chunk_size = 5 * 1024 * 1024;
-  std::string content;
-  SECTION("download to file") {
-    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
-    content = util::read_file(filename);
-  }
-  SECTION("download to buffer") {
-    for (int i = 0; i < 3 && content.empty(); ++i) {
-      content = httpGet(TEST_RLOG_URL, chunk_size);
-      std::this_thread::sleep_for(std::chrono::milliseconds(500));
-    }
-    REQUIRE(!content.empty());
-  }
-  REQUIRE(content.size() == 9112651);
-  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
-}
-
-TEST_CASE("FileReader") {
-  auto enable_local_cache = GENERATE(true, false);
-  std::string cache_file = cacheFilePath(TEST_RLOG_URL);
-  system(("rm " + cache_file + " -f").c_str());
-
-  FileReader reader(enable_local_cache);
-  std::string content = reader.read(TEST_RLOG_URL);
-  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
-  if (enable_local_cache) {
-    REQUIRE(sha256(util::read_file(cache_file)) == TEST_RLOG_CHECKSUM);
-  } else {
-    REQUIRE(util::file_exists(cache_file) == false);
-  }
-}
-
 TEST_CASE("LogReader") {
  SECTION("corrupt log") {
    FileReader reader(true);
@@ -134,44 +98,3 @@ std::string download_demo_route() {

  return data_dir;
 }
-
-
-TEST_CASE("Local route") {
-  std::string data_dir = download_demo_route();
-
-  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
-  Route route(DEMO_ROUTE, data_dir);
-  REQUIRE(route.load());
-  REQUIRE(route.segments().size() == 2);
-  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
-    read_segment(i, route.at(i), flags);
-  }
-}
-
-TEST_CASE("Remote route") {
-  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
-  Route route(DEMO_ROUTE);
-  REQUIRE(route.load());
-  REQUIRE(route.segments().size() == 13);
-  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
-    read_segment(i, route.at(i), flags);
-  }
-}
-
-TEST_CASE("seek_to") {
-  QEventLoop loop;
-  int seek_to = util::random_int(0, 2 * 59);
-  Replay replay(DEMO_ROUTE, {}, {}, nullptr, REPLAY_FLAG_NO_VIPC);
-
-  QObject::connect(&replay, &Replay::seekedTo, [&](double sec) {
-    INFO("seek to " << seek_to << "s sought to" << sec);
-    REQUIRE(sec >= seek_to);
-    loop.quit();
-  });
-
-  REQUIRE(replay.load());
-  replay.start();
-  replay.seekTo(seek_to, false);
-
-  loop.exec();
-}
@@ -1,6 +1,7 @@
 #include "tools/replay/timeline.h"

 #include <array>
+#include <algorithm>

 #include "cereal/gen/cpp/log.capnp.h"

@@ -70,11 +71,11 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
      }
    }

-    callback(log);  // Notify the callback once the log is processed
-
    // Sort and finalize the timeline entries
    std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
    timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_);
+
+    callback(log);  // Notify the callback once the log is processed
  }
 }

@@ -47,12 +47,11 @@ class SimulatorBridge(ABC):
    self.dual_camera = dual_camera
    self.high_quality = high_quality

-    self._exit_event = threading.Event()
+    self._exit_event: threading.Event | None = None
    self._threads = []
    self._keep_alive = True
    self.started = Value('i', False)
    signal.signal(signal.SIGTERM, self._on_shutdown)
-    self._exit = threading.Event()
    self.simulator_state = SimulatorState()

    self.world: World | None = None
@@ -76,7 +75,9 @@ class SimulatorBridge(ABC):

  def close(self, reason):
    self.started.value = False
-    self._exit_event.set()
+
+    if self._exit_event is not None:
+      self._exit_event.set()

    if self.world is not None:
      self.world.close(reason)
@@ -103,6 +104,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
    self.simulated_car = SimulatedCar()
    self.simulated_sensors = SimulatedSensors(self.dual_camera)

+    self._exit_event = threading.Event()
+
    self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
                                                                        100, self._exit_event))
    self.simulated_car_thread.start()
@@ -145,16 +145,16 @@ wheels = [

 [[package]]
 name = "azure-core"
-version = "1.31.0"
+version = "1.32.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "requests" },
    { name = "six" },
    { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/03/7a/f79ad135a276a37e61168495697c14ba1721a52c3eab4dae2941929c79f8/azure_core-1.31.0.tar.gz", hash = "sha256:656a0dd61e1869b1506b7c6a3b31d62f15984b1a573d6326f6aa2f3e4123284b", size = 277147 }
+sdist = { url = "https://files.pythonhosted.org/packages/cc/ee/668328306a9e963a5ad9f152cd98c7adad86c822729fd1d2a01613ad1e67/azure_core-1.32.0.tar.gz", hash = "sha256:22b3c35d6b2dae14990f6c1be2912bf23ffe50b220e708a28ab1bb92b1c730e5", size = 279128 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/01/8e/fcb6a77d3029d2a7356f38dbc77cf7daa113b81ddab76b5593d23321e44c/azure_core-1.31.0-py3-none-any.whl", hash = "sha256:22954de3777e0250029360ef31d80448ef1be13b80a459bff80ba7073379e2cd", size = 197399 },
+    { url = "https://files.pythonhosted.org/packages/39/83/325bf5e02504dbd8b4faa98197a44cdf8a325ef259b48326a2b6f17f8383/azure_core-1.32.0-py3-none-any.whl", hash = "sha256:eac191a0efb23bfa83fddf321b27b122b4ec847befa3091fa736a5c32c50d7b4", size = 198855 },
 ]

 [[package]]
@@ -1243,7 +1243,7 @@ wheels = [

 [[package]]
 name = "onnxruntime"
-version = "1.19.2"
+version = "1.20.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "coloredlogs" },
@@ -1254,15 +1254,15 @@ dependencies = [
    { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/78/e29f5fb76e0f6524f3520e8e5b9d53282784b45d14068c5112db9f712b0a/onnxruntime-1.19.2-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c1dfe4f660a71b31caa81fc298a25f9612815215a47b286236e61d540350d7b6", size = 11496005 },
-    { url = "https://files.pythonhosted.org/packages/60/ce/be4152da5c1030ab5a159a4a792ed9abad6ba498d79ef0aeba593ff7b5bf/onnxruntime-1.19.2-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:a36511dc07c5c964b916697e42e366fa43c48cdb3d3503578d78cef30417cb84", size = 13167809 },
-    { url = "https://files.pythonhosted.org/packages/47/64/da42254ec14452cad2cdd4cf407094841c0a378c0d08944e9a36172197e9/onnxruntime-1.19.2-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d2d366fbcc205ce68a8a3bde2185fd15c604d9645888703785b61ef174265168", size = 11486028 },
-    { url = "https://files.pythonhosted.org/packages/b2/92/3574f6836f33b1b25f272293e72538c38451b12c2d9aa08630bb6bc0f057/onnxruntime-1.19.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:477b93df4db467e9cbf34051662a4b27c18e131fa1836e05974eae0d6e4cf29b", size = 13175054 },
+    { url = "https://files.pythonhosted.org/packages/ef/db/f9f3a2cac589f557c1227d27e288eeb248830613dd1a5b5c17f26894e802/onnxruntime-1.20.0-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8a831b720d0a7be8241a230cb06f592e8bb66652d7cea54ce02d83769651fdee", size = 11946136 },
+    { url = "https://files.pythonhosted.org/packages/53/d8/93706484c8e0db2dfde8559e74b5a9ab74d203a0471671121188c212f7cb/onnxruntime-1.20.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:041fefe60af844ebd90f344c84f908201490555cd0a6d78dd0a7acdc27b59972", size = 13318583 },
+    { url = "https://files.pythonhosted.org/packages/8d/bd/4b15cfc8242577376ed8eb8f10239422945cfa7e52b89db487ceea912c3b/onnxruntime-1.20.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:51e7b34e398089c4ed8d0f50722d7a64a4d5f11b38c4a42576458a03c6dbc72e", size = 11942243 },
+    { url = "https://files.pythonhosted.org/packages/ba/db/7e65fcf45f5485193158999c194470f40be4bb6c82ec7e70401f78220dec/onnxruntime-1.20.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:0e259378ff2843321e0bf4552adcbee48822c91d77d42dde78b87dcdf10ad01f", size = 13313619 },
 ]

 [[package]]
 name = "onnxruntime-gpu"
-version = "1.19.2"
+version = "1.20.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "coloredlogs" },
@@ -1273,8 +1273,8 @@ dependencies = [
    { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/85/33/06e856502a1d482532cfa7d4c7ca775dfddcd851c7bd1833f5177e567055/onnxruntime_gpu-1.19.2-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:562fc7c755393eaad9751e56149339dd201ffbfdb3ef5f43ff21d0619ba9045f", size = 226175096 },
-    { url = "https://files.pythonhosted.org/packages/68/55/49e5b4b4d6e9a8841dcdec2f102069716b626bf6ce9640b832a9497504eb/onnxruntime_gpu-1.19.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:554a02a3fac0119707eb87327908afd21c4e6f0fa5bf9a034398f098adc316c5", size = 226163139 },
+    { url = "https://files.pythonhosted.org/packages/60/d0/9baa124f0276a186175c4e819d62ed75416096b0f7ff058296989d4712ff/onnxruntime_gpu-1.20.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:6338fdfc955489b1d4329498f7f07640c000f92eae8933de293adc5f5ed480f5", size = 291504604 },
+    { url = "https://files.pythonhosted.org/packages/ed/cd/98ea1ef90c5e51de69239881522a4c115a009dba99d83fd8e2606b33358d/onnxruntime_gpu-1.20.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:06398420c363b7e400de98deb8bc238fcff98adafe8eeda6ff96a94e20713ac0", size = 291507294 },
 ]

 [[package]]
@@ -1459,11 +1459,11 @@ requires-dist = [

 [[package]]
 name = "packaging"
-version = "24.1"
+version = "24.2"
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 [[package]]
Author	SHA1	Message	Date
Jason Wen	b24e762592	more	2024-11-21 10:40:58 -05:00
Jason Wen	ed8812e730	FCA: S20 init	2024-11-21 10:18:40 -05:00
DevTekVE	36f8192612	ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 ) Fixes the GitHub action that was failing when the pipeline was running as a result of a push to master-new because it was not properly recognized as "master"	2024-11-17 09:49:37 +01:00
DevTekVE	4b66cd0577	ci: fix repo permissions in ui preview (#450 ) * more fix * forcing a change on UI to test * undo ui change for test * temp add branch * adding more ways to set the master uo * more bruteforce * undoing force	2024-11-16 22:27:29 -05:00
DevTekVE	ad742515f1	ci: sunnypilot show UI diff on PRs (#449 ) add master-new as well to the triggers for the diff ui	2024-11-16 23:45:12 +01:00
Jason Wen	2426354d72	bump opendbc (#448 ) * bump opendbc * Bump opendbc to our changed car params * New Int16 test * spFlags * original name? * Testing more carparams combinations * Another crazy idea * typo * use this field * bump * bump opendbc --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2024-11-16 17:04:12 -05:00
DevTekVE	cf55992c26	CI: sunnypilot configuration (#447 ) * initial updates to the actions to run for sp * ignore license file * more updates * undoing some of the changes because I was blocking the runs on * allowing the submodule check as well * Allowing macos builds * test adding cache key * don't attempt build_release for selfdrive for the time being. * Blocking macos builds as well since they have a 10x miltiplier for GH aciton minutes, waaaay too much! * lol nice typo codespell * change ref commit id to check if replay passes	2024-11-16 10:24:47 -05:00
DevTekVE	3da0dfd47f	Updating submodules	2024-11-15 08:16:52 +01:00
Jason Wen	6edaf619bf	Add Custom MIT License (#438 )	2024-11-15 08:11:51 +01:00
Alexandre Nobuharu Sato	87bc80d351	Dev panel: disable long maneuver toggle for stock long (#34006 ) * fix errors in developerPanel * clean up * clean up * need to keep track of offroad sadly --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2024-11-14 13:38:41 -08:00
Maxime Desroches	233dc24929	ci: fix jenkins checkout (#34025 ) fix	2024-11-14 11:35:14 -08:00
JaSpa99	dc73e6e2aa	Make SimulatorBridge picklable (MacOS support) (#34023 ) * remove unused * make Params (un)serializable * move initialization after spawn _thread.lock objects can't be pickled	2024-11-14 10:25:50 -08:00
Maxime Desroches	50aac48fba	ci: faster unit_test (#34019 ) * multiple * CACHE * ... * cache * now fast * maybe * bp * vv * slow * fast * fix * faster * ruff * info * timeout * info * more * clean * faster * test * collection time * is this real? * fix * back * clean * just to make sure * faster!	2024-11-13 21:27:23 -08:00
Adeeb Shihadeh	26b928596d	CI: always run submodule check (#34021 ) * CI: always run submodule check * ignore tinygrad * skip	2024-11-13 19:43:06 -08:00
Adeeb Shihadeh	d9d57e5d6f	Revert ISP image processing + tinygrad bump (#34020 ) * Revert "Replace ThneedModel with TinygradModel (#33532)" This reverts commit `da952e9b64`. * Revert "camerad: move E + D cams image pipelines to the IFE (#33959)" This reverts commit `f2a1cce42b`.	2024-11-13 19:27:11 -08:00
Maxime Desroches	3dc970960d	ci: try safe_checkout if unsafe_checkout fails (#34018 ) fallback	2024-11-13 14:40:42 -08:00
Maxime Desroches	e8a2f199e8	tools: fix replay build (#34017 ) fix	2024-11-13 13:52:07 -08:00
Adeeb Shihadeh	3fffd6c466	jenkins: run model replay on tinygrad bumps (#34014 ) * jenkins: run model replay on tinygrad bumps * bump * / * fix --------- Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>	2024-11-13 12:03:27 -08:00
Maxime Desroches	4948f910f0	ci: fix test_onroad (#34016 ) fix	2024-11-13 12:02:17 -08:00
Adeeb Shihadeh	31cd290cbf	bump panda	2024-11-13 10:11:18 -08:00
Dean Lee	96f6e186c4	test_ui: fix broken keyboard display in screenshots (#34013 ) fix broken keyboard display in screenshots	2024-11-12 23:35:14 -08:00
Maxime Desroches	eda8a1feed	ci: test_models timeout (#34011 ) timeout	2024-11-12 20:48:46 -08:00
Maxime Desroches	7d5031a6d6	ci: reduce sleep in test_uploader (#34009 ) less	2024-11-12 19:41:00 -08:00
Maxime Desroches	def2a7382c	ci: don't create xvfb for unit_test (#34007 ) no more	2024-11-12 16:42:03 -08:00
Shane Smiskol	5b9aa0b0f0	unit test job: remove duplicate test (#34005 ) * already tested try again fix * clean up	2024-11-12 16:17:10 -08:00
Shane Smiskol	4176c74969	ui report: add software (#34004 ) * wow copilot got the coords right * try again	2024-11-12 16:07:00 -08:00
Shane Smiskol	1ab2ec26e1	ListWidget: fix stretch (#34003 ) fix stretch	2024-11-12 15:55:03 -08:00
Shane Smiskol	01a6dccc86	use a tuple	2024-11-12 14:34:43 -08:00
Dean Lee	f5dc1d08c9	replay: replace HttpRequest with libcurl for accessing comma API (#33851 ) Replay: Replace HttpRequest with libcurl for accessing comma api	2024-11-12 14:34:12 -08:00
Dean Lee	d050e0c2ac	ui/model: use height from LiveCalibration instead of hardcoded offset Z (#33802 ) * add PATH_OFFSET_Z constant * use height from liveCalibration	2024-11-12 14:33:25 -08:00
Maxime Desroches	4170534c02	ci: faster process_replay (#33989 ) * try * fix * try * try * try * monitor * no * how fast * more * timeout * remove * ruff * try * less * cons * less * cons * revert * more and less * more? * more? * cons * cons * cons * cons * cons	2024-11-12 14:26:21 -08:00
Adeeb Shihadeh	97c990dac6	docs: init glossary (#33995 )	2024-11-11 16:21:50 -08:00
Maxime Desroches	13760968bb	ci: set timeout based on runner (#33991 ) * timeout * 20	2024-11-11 14:28:15 -08:00
Adeeb Shihadeh	a683b7d99c	sensord: increase time jump tolerance diffs on the order of ~5ms are somewhat common and false positives	2024-11-11 14:21:50 -08:00
Maxime Desroches	f3e28275d9	bump tinygrad depth (#33990 ) deeper	2024-11-11 13:48:35 -08:00
Mitchell Goff	da952e9b64	Replace ThneedModel with TinygradModel (#33532 ) * squash * bump tg * bump tg * debump tinygrad * bump tinygrad * bump tg * Skip init iteration * fixes * cleanups * skip first test sample * typos * linter unhappy * update cpu usage * OPENCL just zeros for now * imports * Try printing * Runs again, but slower * unused import * Allow more buffer with tg and all on gpu * bump tinygrad --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>	2024-11-11 13:32:21 -08:00
Kevin Robert Keegan	127c922aed	ui: Fix Night Brightness (#33984 )	2024-11-11 11:54:18 -08:00
commaci-public	f50ee8a67a	[bot] Update Python packages (#33986 ) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>	2024-11-11 10:17:32 -08:00
Mauricio Alvarez Leon	5e4b423b5a	ui: update spanish translations (#33982 )	2024-11-10 19:52:02 -08:00
Lee Jong Mun	67b483f880	Multilang: kor translation update (#33983 )	2024-11-10 19:51:25 -08:00
Shane Smiskol	3c22a1ee27	Revert "long report: close plots" This reverts commit `482234ed35`.	2024-11-10 19:17:04 -08:00
Shane Smiskol	482234ed35	long report: close plots	2024-11-10 19:15:11 -08:00
royjr	37d38960dc	ui: update arabic translations (#33981 ) Update main_ar.ts	2024-11-10 09:29:40 -08:00
royjr	e243acac3b	longitudinal_maneuvers fix warning (#33980 )	2024-11-10 09:29:27 -08:00
Maxime Desroches	5b0994c53c	setup: fix uv (#33975 ) * fix * fix * fix * fix	2024-11-09 22:16:41 -08:00
YassineYousfi	47bd0f0166	Dragon Rider Model (#33958 ) * c77e258c-8e59-46aa-a2ef-09398823e801/400 * 04a1d006-4d46-499a-a27e-dfe9651398a9/400	2024-11-09 17:28:20 -08:00
Shane Smiskol	1c1e7330f0	Toyota: more responsive start from stop (#33974 ) * bump * Update ref_commit	2024-11-08 21:13:59 -08:00
Shane Smiskol	3a2ca15164	bump opendbc (#33972 ) bump	2024-11-08 20:30:41 -08:00
Maxime Desroches	4979182a2e	ci: faster test_models (#33956 ) * less * timeout * less * merge * debug * debug * try * check now * try this * push * fix * CACHE * test * fix * fix * for now * fix * fix	2024-11-08 19:38:38 -08:00
Shane Smiskol	44c889fa41	longcontrol: prevent integral windup when feedforward rises gradually (#33970 ) * try * messy * simplify that * clip instead * clean up * clean up * update refs * this is better for latcontrol * Revert "update refs" This reverts commit 1d2508237f76121248060614b0c5e6ecdfdc4daf. * ref commit	2024-11-08 18:15:36 -08:00
Adeeb Shihadeh	13d4b5f8bb	Update RELEASES.md	2024-11-08 15:17:06 -08:00
Adeeb Shihadeh	7ecedbc39f	setup: no low voltage warning without INA	2024-11-08 13:31:43 -08:00
Maxime Desroches	ce7317407f	ci: faster test_encoder (#33968 ) * try * timeout * fix	2024-11-08 11:49:04 -08:00
Maxime Desroches	a642973dc7	ci: try faster macos setup (#33966 ) * test * try * try * fix * fix * fix * fix * fix * fix * fix * fix * cleanup	2024-11-07 22:31:23 -08:00
ZwX1616	a4848ceee9	Add driverStateV2 plots to model replay (#33967 )	2024-11-07 21:49:15 -08:00
Maxime Desroches	700a5651bd	ci: nicer output for test_onroad (#33961 ) * viz * viz * fix * show more * fix * failure * cleanup	2024-11-07 21:45:51 -08:00
Shane Smiskol	3e88d680a5	Update maneuversd.py	2024-11-07 21:45:12 -08:00
ZwX1616	d899125b65	SensorInfo: set correct bayer_patterns (#33965 ) clean up Co-authored-by: Comma Device <device@comma.ai>	2024-11-07 19:56:10 -08:00
ZwX1616	48fcb4dc60	fix isp processing_time unit (#33964 ) should be in seconds Co-authored-by: Comma Device <device@comma.ai>	2024-11-07 19:01:31 -08:00
Maxime Desroches	e0acd86ca1	ci: faster unit_tests (#33962 ) faster	2024-11-07 18:44:12 -08:00
ZwX1616	a342cef545	IFE: remove OS/AR redundant point due to typo (#33963 )	2024-11-07 17:08:46 -08:00
Adeeb Shihadeh	b6a1530346	can't forget about os	2024-11-07 16:58:31 -08:00
Adeeb Shihadeh	2ac776cfda	CI: disable retries on Actions (#33960 ) * no retries * red	2024-11-07 16:25:29 -08:00
Maxime Desroches	4f9794097b	ci: faster unit_tests (#33953 ) * effect * test * no * yes * try some caching * try * 1 * try more 1 * just for fun * 50 maybe???? * all for nothing * fix * add back * back * timeout * clean * try * no * less	2024-11-07 15:29:07 -08:00
Adeeb Shihadeh	f2a1cce42b	camerad: move E + D cams image pipelines to the IFE (#33959 ) * camerad: move E + D cams image pipelines to the IFE * arvig	2024-11-07 14:41:08 -08:00
Maxime Desroches	66beaceeec	gitignore .zst logs (#33955 ) ignore	2024-11-07 11:15:43 -08:00
Maxime Desroches	6a2ae346ab	ci: relax test_onroad cpu usage bounds (#33951 ) bounds	2024-11-06 20:30:38 -08:00
Maxime Desroches	c995d5b9ae	ci: faster test_models (#33941 ) * test * try 4 runners * try * 100 for fun * the fun is over * try even less	2024-11-06 19:17:15 -08:00
Shane Smiskol	f13d1ae4d6	Toyota: clean up ACC_CONTROL sending (#33949 ) * bump * Update ref_commit	2024-11-06 17:50:52 -08:00
Shane Smiskol	1965b2fd6e	joystick: add cancel logic (#33950 ) match cancel logic	2024-11-06 17:46:05 -08:00
Shane Smiskol	aed8e5cbd5	bump opendbc (#33948 )	2024-11-06 16:34:17 -08:00
Shane Smiskol	1e3f8bec46	Ford Q3: enable long by default (#33945 ) * bump * update docs * release notes ctrl * op * migrate for regen * regen and update refs * only ford	2024-11-06 16:21:44 -08:00
ZwX1616	c3ca9a26c8	os04c10: 12bit tune (#33947 ) * much better * also isp --------- Co-authored-by: Comma Device <device@comma.ai>	2024-11-06 16:00:14 -08:00
commaci-public	3081dca9e5	[bot] Update Python packages (#33943 ) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>	2024-11-06 14:42:58 -08:00
Shane Smiskol	09b68eef3e	fix lead distance bars w/ joystick mode (#33942 )	2024-11-06 14:41:45 -08:00
YassineYousfi	3474eb3d96	fix raylib build (#33939 )	2024-11-05 21:54:05 -08:00
Adeeb Shihadeh	8fc36c26f2	hardwared: configure modem even if SIM not present	2024-11-05 21:20:17 -08:00
Adeeb Shihadeh	6e8e51793e	tici: disable cavli sim sleep	2024-11-05 17:37:07 -08:00
Maxime Desroches	4d08e114d9	installer: switch openpilot-internal to nightly-dev (#33938 ) internal	2024-11-05 17:10:08 -08:00
Maxime Desroches	4b21e221dd	test_camerad: reduce test time to allow retry (#33937 ) allow all retries	2024-11-05 17:03:20 -08:00
Shane Smiskol	fd84970833	maneuversd: support interpolated breakpoints (#33936 ) * breakpoints * clean up * fix * simplify * np fast * might as well	2024-11-05 16:19:02 -08:00
Shane Smiskol	e92ff96de3	format mansueversd.py	2024-11-05 16:07:12 -08:00
Adeeb Shihadeh	954fa5e6da	pandad: fall back to panda voltage and current measurements (#33935 )	2024-11-05 15:51:45 -08:00
Adeeb Shihadeh	12fd9e441f	only show storage missing for comma threes	2024-11-05 14:27:33 -08:00
James	83b60a7ba6	Remove duplicate "build_metadata" declaration (#33927 )	2024-11-05 11:37:45 -08:00
Maxime Desroches	39dbee0329	ci: faster test_camerad (#33933 ) * once * timeout	2024-11-05 10:52:47 -08:00
Maxime Desroches	5a06d1df43	add nightly-dev to branch selector (#33932 ) top	2024-11-04 20:26:08 -08:00
ZwX1616	e7d4139b1d	IFE: fix ox (#33931 ) * bp * slightkly wrong --------- Co-authored-by: Comma Device <device@comma.ai>	2024-11-04 17:03:52 -08:00
Dean Lee	474607ba06	cabana: refactor video widget for simplified layout and enhanced rendering (#33909 ) simplify video widget	2024-11-04 10:01:14 -08:00
commaci-public	525482bf59	[bot] Update Python packages (#33928 ) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>	2024-11-04 09:43:12 -08:00
Adeeb Shihadeh	6a32430499	ui: skip raylib build on aarch64 (#33929 )	2024-11-04 09:16:42 -08:00
Dean Lee	4f5ec14cf7	ui: refactor spinner using raylib (#33738 ) * raylib spinner * fix build issue on device * keep qt spinner * own SConscript	2024-11-04 09:07:07 -08:00
Maxime Desroches	32c5254415	ci: faster test_onroad (#33906 ) * 30s * ruff * remove * timeout * global * value * get value * better * format * cleaner	2024-11-02 21:19:05 -07:00
Maxime Desroches	747b963a29	nightly: avoid Jenkins cold reboot conflict (#33923 ) conf	2024-11-02 20:15:57 -07:00
Alexandre Nobuharu Sato	d7fbf70237	docs: add user and pass to C3X serial console instructions (#33921 ) * add user and pass to C3X serial console instructions * better	2024-11-02 13:18:20 -07:00