more

FCA: S20 init
ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 )
2026-07-25 22:42:08 +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
91 changed files with 1038 additions and 723 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/

@@ -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"),
        ])
@@ -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:
@@ -61,7 +61,7 @@ def and_(*fns):
  return lambda *args: operator.and_(*(fn(*args) for fn in fns))

 procs = [
-  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid", enabled=not PC),
+  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),

  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
@@ -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"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/51/65/50db4dda066951078f0a96cf12f4b9ada6e4b811516bf0262c0f4f7064d4/packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002", size = 148788 }
+sdist = { url = "https://files.pythonhosted.org/packages/d0/63/68dbb6eb2de9cb10ee4c9c14a0148804425e13c4fb20d61cce69f53106da/packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f", size = 163950 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/08/aa/cc0199a5f0ad350994d660967a8efb233fe0416e4639146c089643407ce6/packaging-24.1-py3-none-any.whl", hash = "sha256:5b8f2217dbdbd2f7f384c41c628544e6d52f2d0f53c6d0c3ea61aa5d1d7ff124", size = 53985 },
+    { url = "https://files.pythonhosted.org/packages/88/ef/eb23f262cca3c0c4eb7ab1933c3b1f03d021f2c48f54763065b6f0e321be/packaging-24.2-py3-none-any.whl", hash = "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759", size = 65451 },
 ]

 [[package]]
@@ -4454,15 +4454,15 @@ wheels = [

 [[package]]
 name = "pytest-cov"
-version = "5.0.0"
+version = "6.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "coverage", extra = ["toml"] },
    { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/74/67/00efc8d11b630c56f15f4ad9c7f9223f1e5ec275aaae3fa9118c6a223ad2/pytest-cov-5.0.0.tar.gz", hash = "sha256:5837b58e9f6ebd335b0f8060eecce69b662415b16dc503883a02f45dfeb14857", size = 63042 }
+sdist = { url = "https://files.pythonhosted.org/packages/be/45/9b538de8cef30e17c7b45ef42f538a94889ed6a16f2387a6c89e73220651/pytest-cov-6.0.0.tar.gz", hash = "sha256:fde0b595ca248bb8e2d76f020b465f3b107c9632e6a1d1705f17834c89dcadc0", size = 66945 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/78/3a/af5b4fa5961d9a1e6237b530eb87dd04aea6eb83da09d2a4073d81b54ccf/pytest_cov-5.0.0-py3-none-any.whl", hash = "sha256:4f0764a1219df53214206bf1feea4633c3b558a2925c8b59f144f682861ce652", size = 21990 },
+    { url = "https://files.pythonhosted.org/packages/36/3b/48e79f2cd6a61dbbd4807b4ed46cb564b4fd50a76166b1c4ea5c1d9e2371/pytest_cov-6.0.0-py3-none-any.whl", hash = "sha256:eee6f1b9e61008bd34975a4d5bab25801eb31898b032dd55addc93e96fcaaa35", size = 22949 },
 ]

 [[package]]
@@ -4736,7 +4736,7 @@ wheels = [

 [[package]]
 name = "rerun-sdk"
-version = "0.19.0"
+version = "0.19.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "attrs" },
@@ -4746,11 +4746,11 @@ dependencies = [
    { name = "typing-extensions" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c4/59/cfea9527a2f56652c9f2e54151c8a0d2b572b7f1255ca9bc6ea8ad2fd7ce/rerun_sdk-0.19.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:49a48d6d5d7de662ef3e83dc262e65705fa719726f6bc6deefad27c4b6d34e98", size = 37415314 },
-    { url = "https://files.pythonhosted.org/packages/d9/16/0d7099d537bf2f73988ac93f5075d4fd717e96c25697b3ea16af8bcc2cda/rerun_sdk-0.19.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:c8012b4e517a911a782472dc97ebbdc6ed4261b44bfdd0e0a0c64496f17ddc91", size = 35743438 },
-    { url = "https://files.pythonhosted.org/packages/cf/35/eaabd19deaa2bbb121df3a6949206f02ad6cff122d8ad6ba0fcdeeb972c6/rerun_sdk-0.19.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:65bb8ddf9611827c31d5502f9d1ee997c1facbbdf5dce9a268f0aa6bcaea5439", size = 39794278 },
-    { url = "https://files.pythonhosted.org/packages/8b/2c/1e06376a531431855c4ea12865aba0d83a1a1d0537a544191d09d3b44eea/rerun_sdk-0.19.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:6a49fde1c9d0691166402707ec3b317bf0d82fb1b4412b98e02ccbf499d9b92d", size = 41301646 },
-    { url = "https://files.pythonhosted.org/packages/b2/57/948b518f3db30b8dd27d1dc0280acc6510289a79675dcb523ccfcced39d6/rerun_sdk-0.19.0-cp38-abi3-win_amd64.whl", hash = "sha256:da304927485cb4e6afe25ea8ed84c0cb7e63f3ba8ce2c72a1034ae1ffc69a6c0", size = 33573220 },
+    { url = "https://files.pythonhosted.org/packages/48/b0/2f91b886fd701e3ded8e3013852e833519f2e640b857e1b0c0883c7a7d37/rerun_sdk-0.19.1-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:a61be3afea5ac856809bdff7234a21de308f149f92d5f4d4c532dcd5698de1c4", size = 37403183 },
+    { url = "https://files.pythonhosted.org/packages/4e/96/6e75b675d20ee584f3f3664aead70bc1736b958091c14b2a5a06f4f31881/rerun_sdk-0.19.1-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:56bb01adf13308725b1534b93be21ad6234ecfa98db13227dc281a3cb8b41922", size = 35748606 },
+    { url = "https://files.pythonhosted.org/packages/ed/e6/086f38552edeaebd227a47711f67be2cee9f07483694278daab0f87321f1/rerun_sdk-0.19.1-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:caa7bef1e63bb1c95d0cf52812cf16855b80c7b1d0137b6c2ba9e5031c35c095", size = 39801474 },
+    { url = "https://files.pythonhosted.org/packages/e4/91/631883fdacd12630b0a37d42a6e8c87785b9c8cfba68aed21aa6e7c73723/rerun_sdk-0.19.1-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:7a638d2009c5248ce61feadf283d1b10e98241e04a5834c8d27169a4401ed5b1", size = 41311782 },
+    { url = "https://files.pythonhosted.org/packages/c7/46/5f0ab6fd81e4e109915a886f572648e47b1d159c4c5369c81c4b57089c55/rerun_sdk-0.19.1-cp38-abi3-win_amd64.whl", hash = "sha256:5d7950ed35cfa0ecaad302dbc2413354654dd0d5cd44e73cb55d05fa1ed0004d", size = 33581988 },
 ]

 [[package]]
@@ -4800,27 +4800,27 @@ wheels = [

 [[package]]
 name = "ruff"
-version = "0.7.1"
+version = "0.7.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a6/21/5c6e05e0fd3fbb41be4fb92edbc9a04de70baf60adb61435ce0c6b8c3d55/ruff-0.7.1.tar.gz", hash = "sha256:9d8a41d4aa2dad1575adb98a82870cf5db5f76b2938cf2206c22c940034a36f4", size = 3181670 }
+sdist = { url = "https://files.pythonhosted.org/packages/4b/06/09d1276df977eece383d0ed66052fc24ec4550a61f8fbc0a11200e690496/ruff-0.7.3.tar.gz", hash = "sha256:e1d1ba2e40b6e71a61b063354d04be669ab0d39c352461f3d789cac68b54a313", size = 3243664 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/45/8a20a9920175c9c4892b2420f80ff3cf14949cf3067118e212f9acd9c908/ruff-0.7.1-py3-none-linux_armv6l.whl", hash = "sha256:cb1bc5ed9403daa7da05475d615739cc0212e861b7306f314379d958592aaa89", size = 10389268 },
-    { url = "https://files.pythonhosted.org/packages/1b/d3/2f8382db2cf4f9488e938602e33e36287f9d26cb283aa31f11c31297ce79/ruff-0.7.1-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:27c1c52a8d199a257ff1e5582d078eab7145129aa02721815ca8fa4f9612dc35", size = 10188348 },
-    { url = "https://files.pythonhosted.org/packages/a2/31/7d14e2a88da351200f844b7be889a0845d9e797162cf76b136d21b832a23/ruff-0.7.1-py3-none-macosx_11_0_arm64.whl", hash = "sha256:588a34e1ef2ea55b4ddfec26bbe76bc866e92523d8c6cdec5e8aceefeff02d99", size = 9841448 },
-    { url = "https://files.pythonhosted.org/packages/db/99/738cafdc768eceeca0bd26c6f03e213aa91203d2278e1d95b1c31c4ece41/ruff-0.7.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:94fc32f9cdf72dc75c451e5f072758b118ab8100727168a3df58502b43a599ca", size = 10674864 },
-    { url = "https://files.pythonhosted.org/packages/fe/12/bcf2836b50eab53c65008383e7d55201e490d75167c474f14a16e1af47d2/ruff-0.7.1-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:985818742b833bffa543a84d1cc11b5e6871de1b4e0ac3060a59a2bae3969250", size = 10192105 },
-    { url = "https://files.pythonhosted.org/packages/2b/71/261d5d668bf98b6c44e89bfb5dfa4cb8cb6c8b490a201a3d8030e136ea4f/ruff-0.7.1-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:32f1e8a192e261366c702c5fb2ece9f68d26625f198a25c408861c16dc2dea9c", size = 11194144 },
-    { url = "https://files.pythonhosted.org/packages/90/1f/0926d18a3b566fa6e7b3b36093088e4ffef6b6ba4ea85a462d9a93f7e35c/ruff-0.7.1-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:699085bf05819588551b11751eff33e9ca58b1b86a6843e1b082a7de40da1565", size = 11917066 },
-    { url = "https://files.pythonhosted.org/packages/cd/a8/9fac41f128b6a44ab4409c1493430b4ee4b11521e8aeeca19bfe1ce851f9/ruff-0.7.1-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:344cc2b0814047dc8c3a8ff2cd1f3d808bb23c6658db830d25147339d9bf9ea7", size = 11458821 },
-    { url = "https://files.pythonhosted.org/packages/25/cd/59644168f086ab13fe4e02943b9489a0aa710171f66b178e179df5383554/ruff-0.7.1-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4316bbf69d5a859cc937890c7ac7a6551252b6a01b1d2c97e8fc96e45a7c8b4a", size = 12700379 },
-    { url = "https://files.pythonhosted.org/packages/fb/30/3bac63619eb97174661829c07fc46b2055a053dee72da29d7c304c1cd2c0/ruff-0.7.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:79d3af9dca4c56043e738a4d6dd1e9444b6d6c10598ac52d146e331eb155a8ad", size = 11019813 },
-    { url = "https://files.pythonhosted.org/packages/4b/af/f567b885b5cb3bcdbcca3458ebf210cc8c9c7a9f61c332d3c2a050c3b21e/ruff-0.7.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:c5c121b46abde94a505175524e51891f829414e093cd8326d6e741ecfc0a9112", size = 10662146 },
-    { url = "https://files.pythonhosted.org/packages/bc/ad/eb930d3ad117a9f2f7261969c21559ebd82bb13b6e8001c7caed0d44be5f/ruff-0.7.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:8422104078324ea250886954e48f1373a8fe7de59283d747c3a7eca050b4e378", size = 10256911 },
-    { url = "https://files.pythonhosted.org/packages/20/d5/af292ce70a016fcec792105ca67f768b403dd480a11888bc1f418fed0dd5/ruff-0.7.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:56aad830af8a9db644e80098fe4984a948e2b6fc2e73891538f43bbe478461b8", size = 10767488 },
-    { url = "https://files.pythonhosted.org/packages/24/85/cc04a3bd027f433bebd2a097e63b3167653c079f7f13d8f9a1178e693412/ruff-0.7.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:658304f02f68d3a83c998ad8bf91f9b4f53e93e5412b8f2388359d55869727fd", size = 11093368 },
-    { url = "https://files.pythonhosted.org/packages/0b/fb/c39cbf32d1f3e318674b8622f989417231794926b573f76dd4d0ca49f0f1/ruff-0.7.1-py3-none-win32.whl", hash = "sha256:b517a2011333eb7ce2d402652ecaa0ac1a30c114fbbd55c6b8ee466a7f600ee9", size = 8594180 },
-    { url = "https://files.pythonhosted.org/packages/5a/71/ec8cdea34ecb90c830ca60d54ac7b509a7b5eab50fae27e001d4470fe813/ruff-0.7.1-py3-none-win_amd64.whl", hash = "sha256:f38c41fcde1728736b4eb2b18850f6d1e3eedd9678c914dede554a70d5241307", size = 9419751 },
-    { url = "https://files.pythonhosted.org/packages/79/7b/884553415e9f0a9bf358ed52fb68b934e67ef6c5a62397ace924a1afdf9a/ruff-0.7.1-py3-none-win_arm64.whl", hash = "sha256:19aa200ec824c0f36d0c9114c8ec0087082021732979a359d6f3c390a6ff2a37", size = 8717402 },
+    { url = "https://files.pythonhosted.org/packages/c0/56/933d433c2489e4642487b835f53dd9ff015fb3d8fa459b09bb2ce42d7c4b/ruff-0.7.3-py3-none-linux_armv6l.whl", hash = "sha256:34f2339dc22687ec7e7002792d1f50712bf84a13d5152e75712ac08be565d344", size = 10372090 },
+    { url = "https://files.pythonhosted.org/packages/20/ea/1f0a22a6bcdd3fc26c73f63a025d05bd565901b729d56bcb093c722a6c4c/ruff-0.7.3-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:fb397332a1879b9764a3455a0bb1087bda876c2db8aca3a3cbb67b3dbce8cda0", size = 10190037 },
+    { url = "https://files.pythonhosted.org/packages/16/74/aca75666e0d481fe394e76a8647c44ea919087748024924baa1a17371e3e/ruff-0.7.3-py3-none-macosx_11_0_arm64.whl", hash = "sha256:37d0b619546103274e7f62643d14e1adcbccb242efda4e4bdb9544d7764782e9", size = 9811998 },
+    { url = "https://files.pythonhosted.org/packages/20/a1/cf446a0d7f78ea1f0bd2b9171c11dfe746585c0c4a734b25966121eb4f5d/ruff-0.7.3-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5d59f0c3ee4d1a6787614e7135b72e21024875266101142a09a61439cb6e38a5", size = 10620626 },
+    { url = "https://files.pythonhosted.org/packages/cd/c1/82b27d09286ae855f5d03b1ad37cf243f21eb0081732d4d7b0d658d439cb/ruff-0.7.3-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:44eb93c2499a169d49fafd07bc62ac89b1bc800b197e50ff4633aed212569299", size = 10177598 },
+    { url = "https://files.pythonhosted.org/packages/b9/42/c0acac22753bf74013d035a5ef6c5c4c40ad4d6686bfb3fda7c6f37d9b37/ruff-0.7.3-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6d0242ce53f3a576c35ee32d907475a8d569944c0407f91d207c8af5be5dae4e", size = 11171963 },
+    { url = "https://files.pythonhosted.org/packages/43/18/bb0befb7fb9121dd9009e6a72eb98e24f1bacb07c6f3ecb55f032ba98aed/ruff-0.7.3-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:6b6224af8b5e09772c2ecb8dc9f3f344c1aa48201c7f07e7315367f6dd90ac29", size = 11856157 },
+    { url = "https://files.pythonhosted.org/packages/5e/91/04e98d7d6e32eca9d1372be595f9abc7b7f048795e32eb2edbd8794d50bd/ruff-0.7.3-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c50f95a82b94421c964fae4c27c0242890a20fe67d203d127e84fbb8013855f5", size = 11440331 },
+    { url = "https://files.pythonhosted.org/packages/f5/dc/3fe99f2ce10b76d389041a1b9f99e7066332e479435d4bebcceea16caff5/ruff-0.7.3-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7f3eff9961b5d2644bcf1616c606e93baa2d6b349e8aa8b035f654df252c8c67", size = 12725354 },
+    { url = "https://files.pythonhosted.org/packages/43/7b/1daa712de1c5bc6cbbf9fa60e9c41cc48cda962dc6d2c4f2a224d2c3007e/ruff-0.7.3-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8963cab06d130c4df2fd52c84e9f10d297826d2e8169ae0c798b6221be1d1d2", size = 11010091 },
+    { url = "https://files.pythonhosted.org/packages/b6/db/1227a903587432eb569e57a95b15a4f191a71fe315cde4c0312df7bc85da/ruff-0.7.3-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:61b46049d6edc0e4317fb14b33bd693245281a3007288b68a3f5b74a22a0746d", size = 10610687 },
+    { url = "https://files.pythonhosted.org/packages/db/e2/dc41ee90c3085aadad4da614d310d834f641aaafddf3dfbba08210c616ce/ruff-0.7.3-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:10ebce7696afe4644e8c1a23b3cf8c0f2193a310c18387c06e583ae9ef284de2", size = 10254843 },
+    { url = "https://files.pythonhosted.org/packages/6f/09/5f6cac1c91542bc5bd33d40b4c13b637bf64d7bb29e091dadb01b62527fe/ruff-0.7.3-py3-none-musllinux_1_2_i686.whl", hash = "sha256:3f36d56326b3aef8eeee150b700e519880d1aab92f471eefdef656fd57492aa2", size = 10730962 },
+    { url = "https://files.pythonhosted.org/packages/d3/42/89a4b9a24ef7d00269e24086c417a006f9a3ffeac2c80f2629eb5ce140ee/ruff-0.7.3-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:5d024301109a0007b78d57ab0ba190087b43dce852e552734ebf0b0b85e4fb16", size = 11101907 },
+    { url = "https://files.pythonhosted.org/packages/b0/5c/efdb4777686683a8edce94ffd812783bddcd3d2454d38c5ac193fef7c500/ruff-0.7.3-py3-none-win32.whl", hash = "sha256:4ba81a5f0c5478aa61674c5a2194de8b02652f17addf8dfc40c8937e6e7d79fc", size = 8611095 },
+    { url = "https://files.pythonhosted.org/packages/bb/b8/28fbc6a4efa50178f973972d1c84b2d0a33cdc731588522ab751ac3da2f5/ruff-0.7.3-py3-none-win_amd64.whl", hash = "sha256:588a9ff2fecf01025ed065fe28809cd5a53b43505f48b69a1ac7707b1b7e4088", size = 9418283 },
+    { url = "https://files.pythonhosted.org/packages/3f/77/b587cba6febd5e2003374f37eb89633f79f161e71084f94057c8653b7fb3/ruff-0.7.3-py3-none-win_arm64.whl", hash = "sha256:1713e2c5545863cdbfe2cbce21f69ffaf37b813bfd1fb3b90dc9a6f1963f5a8c", size = 8725228 },
 ]

 [[package]]
@@ -4834,15 +4834,15 @@ wheels = [

 [[package]]
 name = "sentry-sdk"
-version = "2.17.0"
+version = "2.18.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "certifi" },
    { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b1/83/7d0956a71ac894717099be3669ca7b8f164bccbcfb570b2f02817d0a0068/sentry_sdk-2.17.0.tar.gz", hash = "sha256:dd0a05352b78ffeacced73a94e86f38b32e2eae15fff5f30ca5abb568a72eacf", size = 290959 }
+sdist = { url = "https://files.pythonhosted.org/packages/24/cc/0d87cc8246f52d92228aa6718a24e1988a2893f4abe2f64ec5a8bcba4185/sentry_sdk-2.18.0.tar.gz", hash = "sha256:0dc21febd1ab35c648391c664df96f5f79fb0d92d7d4225cd9832e53a617cafd", size = 293615 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/10/63/8e80fff3aa15488bc332ede44165a397a29bb13ec4a4b2236299e3b66067/sentry_sdk-2.17.0-py2.py3-none-any.whl", hash = "sha256:625955884b862cc58748920f9e21efdfb8e0d4f98cca4ab0d3918576d5b606ad", size = 314520 },
+    { url = "https://files.pythonhosted.org/packages/76/9b/2d512efdb0de203d1f0312fae53433c3009ba70b0078421d25baaedc960a/sentry_sdk-2.18.0-py2.py3-none-any.whl", hash = "sha256:ee70e27d1bbe4cd52a38e1bd28a5fadb9b17bc29d91b5f2b97ae29c0a7610442", size = 317514 },
 ]

 [[package]]
@@ -4879,11 +4879,11 @@ wheels = [

 [[package]]
 name = "setuptools"
-version = "75.2.0"
+version = "75.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/07/37/b31be7e4b9f13b59cde9dcaeff112d401d49e0dc5b37ed4a9fc8fb12f409/setuptools-75.2.0.tar.gz", hash = "sha256:753bb6ebf1f465a1912e19ed1d41f403a79173a9acf66a42e7e6aec45c3c16ec", size = 1350308 }
+sdist = { url = "https://files.pythonhosted.org/packages/ed/22/a438e0caa4576f8c383fa4d35f1cc01655a46c75be358960d815bfbb12bd/setuptools-75.3.0.tar.gz", hash = "sha256:fba5dd4d766e97be1b1681d98712680ae8f2f26d7881245f2ce9e40714f1a686", size = 1351577 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/31/2d/90165d51ecd38f9a02c6832198c13a4e48652485e2ccf863ebb942c531b6/setuptools-75.2.0-py3-none-any.whl", hash = "sha256:a7fcb66f68b4d9e8e66b42f9876150a3371558f98fa32222ffaa5bced76406f8", size = 1249825 },
+    { url = "https://files.pythonhosted.org/packages/90/12/282ee9bce8b58130cb762fbc9beabd531549952cac11fc56add11dcb7ea0/setuptools-75.3.0-py3-none-any.whl", hash = "sha256:f2504966861356aa38616760c0f66568e535562374995367b4e69c7143cf6bcd", size = 1251070 },
 ]

 [[package]]
@@ -5009,14 +5009,14 @@ wheels = [

 [[package]]
 name = "tqdm"
-version = "4.66.6"
+version = "4.67.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "colorama", marker = "platform_system == 'Windows'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/e9/34/bef135b27fe1864993a5284ad001157ee9b5538e859ac90f5b0e8cc8c9ec/tqdm-4.66.6.tar.gz", hash = "sha256:4bdd694238bef1485ce839d67967ab50af8f9272aab687c0d7702a01da0be090", size = 169533 }
+sdist = { url = "https://files.pythonhosted.org/packages/e8/4f/0153c21dc5779a49a0598c445b1978126b1344bab9ee71e53e44877e14e0/tqdm-4.67.0.tar.gz", hash = "sha256:fe5a6f95e6fe0b9755e9469b77b9c3cf850048224ecaa8293d7d2d31f97d869a", size = 169739 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/41/73/02342de9c2d20922115f787e101527b831c0cffd2105c946c4a4826bcfd4/tqdm-4.66.6-py3-none-any.whl", hash = "sha256:223e8b5359c2efc4b30555531f09e9f2f3589bcd7fdd389271191031b49b7a63", size = 78326 },
+    { url = "https://files.pythonhosted.org/packages/2b/78/57043611a16c655c8350b4c01b8d6abfb38cc2acb475238b62c2146186d7/tqdm-4.67.0-py3-none-any.whl", hash = "sha256:0cd8af9d56911acab92182e88d763100d4788bdf421d251616040cc4d44863be", size = 78590 },
 ]

 [[package]]
@@ -5060,26 +5060,26 @@ wheels = [

 [[package]]
 name = "watchdog"
-version = "5.0.3"
+version = "6.0.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a2/48/a86139aaeab2db0a2482676f64798d8ac4d2dbb457523f50ab37bf02ce2c/watchdog-5.0.3.tar.gz", hash = "sha256:108f42a7f0345042a854d4d0ad0834b741d421330d5f575b81cb27b883500176", size = 129556 }
+sdist = { url = "https://files.pythonhosted.org/packages/db/7d/7f3d619e951c88ed75c6037b246ddcf2d322812ee8ea189be89511721d54/watchdog-6.0.0.tar.gz", hash = "sha256:9ddf7c82fda3ae8e24decda1338ede66e1c99883db93711d8fb941eaa2d8c282", size = 131220 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/70/34/946f08602f8b8e6af45bc725e4a8013975a34883ab5570bd0d827a4c9829/watchdog-5.0.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f01f4a3565a387080dc49bdd1fefe4ecc77f894991b88ef927edbfa45eb10818", size = 96650 },
-    { url = "https://files.pythonhosted.org/packages/96/2b/b84e35d49e8b0bad77e5d086fc1e2c6c833bbfe74d53144cfe8b26117eff/watchdog-5.0.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:91b522adc25614cdeaf91f7897800b82c13b4b8ac68a42ca959f992f6990c490", size = 88653 },
-    { url = "https://files.pythonhosted.org/packages/d5/3f/41b5d77c10f450b79921c17b7d0b416616048867bfe63acaa072a619a0cb/watchdog-5.0.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d52db5beb5e476e6853da2e2d24dbbbed6797b449c8bf7ea118a4ee0d2c9040e", size = 89286 },
-    { url = "https://files.pythonhosted.org/packages/1c/9b/8b206a928c188fdeb7b12e1c795199534cd44bdef223b8470129016009dd/watchdog-5.0.3-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:94d11b07c64f63f49876e0ab8042ae034674c8653bfcdaa8c4b32e71cfff87e8", size = 96739 },
-    { url = "https://files.pythonhosted.org/packages/e1/26/129ca9cd0f8016672f37000010c2fedc0b86816e894ebdc0af9bb04a6439/watchdog-5.0.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:349c9488e1d85d0a58e8cb14222d2c51cbc801ce11ac3936ab4c3af986536926", size = 88708 },
-    { url = "https://files.pythonhosted.org/packages/8f/b3/5e10ec32f0c429cdb55b1369066d6e83faf9985b3a53a4e37bb5c5e29aa0/watchdog-5.0.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:53a3f10b62c2d569e260f96e8d966463dec1a50fa4f1b22aec69e3f91025060e", size = 89309 },
-    { url = "https://files.pythonhosted.org/packages/60/33/7cb71c9df9a77b6927ee5f48d25e1de5562ce0fa7e0c56dcf2b0472e64a2/watchdog-5.0.3-py3-none-manylinux2014_aarch64.whl", hash = "sha256:dd021efa85970bd4824acacbb922066159d0f9e546389a4743d56919b6758b91", size = 79335 },
-    { url = "https://files.pythonhosted.org/packages/f6/91/320bc1496cf951a3cf93a7ffd18a581f0792c304be963d943e0e608c2919/watchdog-5.0.3-py3-none-manylinux2014_armv7l.whl", hash = "sha256:78864cc8f23dbee55be34cc1494632a7ba30263951b5b2e8fc8286b95845f82c", size = 79334 },
-    { url = "https://files.pythonhosted.org/packages/8b/2c/567c5e042ed667d3544c43d48a65cf853450a2d2a9089d9523a65f195e94/watchdog-5.0.3-py3-none-manylinux2014_i686.whl", hash = "sha256:1e9679245e3ea6498494b3028b90c7b25dbb2abe65c7d07423ecfc2d6218ff7c", size = 79333 },
-    { url = "https://files.pythonhosted.org/packages/c3/f0/64059fe162ef3274662e67bbdea6c45b3cd53e846d5bd1365fcdc3dc1d15/watchdog-5.0.3-py3-none-manylinux2014_ppc64.whl", hash = "sha256:9413384f26b5d050b6978e6fcd0c1e7f0539be7a4f1a885061473c5deaa57221", size = 79334 },
-    { url = "https://files.pythonhosted.org/packages/f6/d9/19b7d02965be2801e2d0f6f4bde23e4ae172620071b65430fa0c2f8441ac/watchdog-5.0.3-py3-none-manylinux2014_ppc64le.whl", hash = "sha256:294b7a598974b8e2c6123d19ef15de9abcd282b0fbbdbc4d23dfa812959a9e05", size = 79333 },
-    { url = "https://files.pythonhosted.org/packages/cb/a1/5393ac6d0b095d3a44946b09258e9b5f22cb2fb67bcfa419dd868478826c/watchdog-5.0.3-py3-none-manylinux2014_s390x.whl", hash = "sha256:26dd201857d702bdf9d78c273cafcab5871dd29343748524695cecffa44a8d97", size = 79332 },
-    { url = "https://files.pythonhosted.org/packages/a0/58/edec25190b6403caf4426dd418234f2358a106634b7d6aa4aec6939b104f/watchdog-5.0.3-py3-none-manylinux2014_x86_64.whl", hash = "sha256:0f9332243355643d567697c3e3fa07330a1d1abf981611654a1f2bf2175612b7", size = 79334 },
-    { url = "https://files.pythonhosted.org/packages/97/69/cfb2d17ba8aabc73be2e2d03c8c319b1f32053a02c4b571852983aa24ff2/watchdog-5.0.3-py3-none-win32.whl", hash = "sha256:c66f80ee5b602a9c7ab66e3c9f36026590a0902db3aea414d59a2f55188c1f49", size = 79320 },
-    { url = "https://files.pythonhosted.org/packages/91/b4/2b5b59358dadfa2c8676322f955b6c22cde4937602f40490e2f7403e548e/watchdog-5.0.3-py3-none-win_amd64.whl", hash = "sha256:f00b4cf737f568be9665563347a910f8bdc76f88c2970121c86243c8cfdf90e9", size = 79325 },
-    { url = "https://files.pythonhosted.org/packages/38/b8/0aa69337651b3005f161f7f494e59188a1d8d94171666900d26d29d10f69/watchdog-5.0.3-py3-none-win_ia64.whl", hash = "sha256:49f4d36cb315c25ea0d946e018c01bb028048023b9e103d3d3943f58e109dd45", size = 79324 },
+    { url = "https://files.pythonhosted.org/packages/e0/24/d9be5cd6642a6aa68352ded4b4b10fb0d7889cb7f45814fb92cecd35f101/watchdog-6.0.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:6eb11feb5a0d452ee41f824e271ca311a09e250441c262ca2fd7ebcf2461a06c", size = 96393 },
+    { url = "https://files.pythonhosted.org/packages/63/7a/6013b0d8dbc56adca7fdd4f0beed381c59f6752341b12fa0886fa7afc78b/watchdog-6.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ef810fbf7b781a5a593894e4f439773830bdecb885e6880d957d5b9382a960d2", size = 88392 },
+    { url = "https://files.pythonhosted.org/packages/d1/40/b75381494851556de56281e053700e46bff5b37bf4c7267e858640af5a7f/watchdog-6.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:afd0fe1b2270917c5e23c2a65ce50c2a4abb63daafb0d419fde368e272a76b7c", size = 89019 },
+    { url = "https://files.pythonhosted.org/packages/39/ea/3930d07dafc9e286ed356a679aa02d777c06e9bfd1164fa7c19c288a5483/watchdog-6.0.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:bdd4e6f14b8b18c334febb9c4425a878a2ac20efd1e0b231978e7b150f92a948", size = 96471 },
+    { url = "https://files.pythonhosted.org/packages/12/87/48361531f70b1f87928b045df868a9fd4e253d9ae087fa4cf3f7113be363/watchdog-6.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:c7c15dda13c4eb00d6fb6fc508b3c0ed88b9d5d374056b239c4ad1611125c860", size = 88449 },
+    { url = "https://files.pythonhosted.org/packages/5b/7e/8f322f5e600812e6f9a31b75d242631068ca8f4ef0582dd3ae6e72daecc8/watchdog-6.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6f10cb2d5902447c7d0da897e2c6768bca89174d0c6e1e30abec5421af97a5b0", size = 89054 },
+    { url = "https://files.pythonhosted.org/packages/a9/c7/ca4bf3e518cb57a686b2feb4f55a1892fd9a3dd13f470fca14e00f80ea36/watchdog-6.0.0-py3-none-manylinux2014_aarch64.whl", hash = "sha256:7607498efa04a3542ae3e05e64da8202e58159aa1fa4acddf7678d34a35d4f13", size = 79079 },
+    { url = "https://files.pythonhosted.org/packages/5c/51/d46dc9332f9a647593c947b4b88e2381c8dfc0942d15b8edc0310fa4abb1/watchdog-6.0.0-py3-none-manylinux2014_armv7l.whl", hash = "sha256:9041567ee8953024c83343288ccc458fd0a2d811d6a0fd68c4c22609e3490379", size = 79078 },
+    { url = "https://files.pythonhosted.org/packages/d4/57/04edbf5e169cd318d5f07b4766fee38e825d64b6913ca157ca32d1a42267/watchdog-6.0.0-py3-none-manylinux2014_i686.whl", hash = "sha256:82dc3e3143c7e38ec49d61af98d6558288c415eac98486a5c581726e0737c00e", size = 79076 },
+    { url = "https://files.pythonhosted.org/packages/ab/cc/da8422b300e13cb187d2203f20b9253e91058aaf7db65b74142013478e66/watchdog-6.0.0-py3-none-manylinux2014_ppc64.whl", hash = "sha256:212ac9b8bf1161dc91bd09c048048a95ca3a4c4f5e5d4a7d1b1a7d5752a7f96f", size = 79077 },
+    { url = "https://files.pythonhosted.org/packages/2c/3b/b8964e04ae1a025c44ba8e4291f86e97fac443bca31de8bd98d3263d2fcf/watchdog-6.0.0-py3-none-manylinux2014_ppc64le.whl", hash = "sha256:e3df4cbb9a450c6d49318f6d14f4bbc80d763fa587ba46ec86f99f9e6876bb26", size = 79078 },
+    { url = "https://files.pythonhosted.org/packages/62/ae/a696eb424bedff7407801c257d4b1afda455fe40821a2be430e173660e81/watchdog-6.0.0-py3-none-manylinux2014_s390x.whl", hash = "sha256:2cce7cfc2008eb51feb6aab51251fd79b85d9894e98ba847408f662b3395ca3c", size = 79077 },
+    { url = "https://files.pythonhosted.org/packages/b5/e8/dbf020b4d98251a9860752a094d09a65e1b436ad181faf929983f697048f/watchdog-6.0.0-py3-none-manylinux2014_x86_64.whl", hash = "sha256:20ffe5b202af80ab4266dcd3e91aae72bf2da48c0d33bdb15c66658e685e94e2", size = 79078 },
+    { url = "https://files.pythonhosted.org/packages/07/f6/d0e5b343768e8bcb4cda79f0f2f55051bf26177ecd5651f84c07567461cf/watchdog-6.0.0-py3-none-win32.whl", hash = "sha256:07df1fdd701c5d4c8e55ef6cf55b8f0120fe1aef7ef39a1c6fc6bc2e606d517a", size = 79065 },
+    { url = "https://files.pythonhosted.org/packages/db/d9/c495884c6e548fce18a8f40568ff120bc3a4b7b99813081c8ac0c936fa64/watchdog-6.0.0-py3-none-win_amd64.whl", hash = "sha256:cbafb470cf848d93b5d013e2ecb245d4aa1c8fd0504e863ccefa32445359d680", size = 79070 },
+    { url = "https://files.pythonhosted.org/packages/33/e8/e40370e6d74ddba47f002a32919d91310d6074130fe4e17dabcafc15cbf1/watchdog-6.0.0-py3-none-win_ia64.whl", hash = "sha256:a1914259fa9e1454315171103c6a30961236f508b9b623eae470268bbcc6a22f", size = 79067 },
 ]

 [[package]]
@@ -5107,57 +5107,57 @@ wheels = [

 [[package]]
 name = "yarl"
-version = "1.16.0"
+version = "1.17.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "idna" },
    { name = "multidict" },
    { name = "propcache" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/23/52/e9766cc6c2eab7dd1e9749c52c9879317500b46fb97d4105223f86679f93/yarl-1.16.0.tar.gz", hash = "sha256:b6f687ced5510a9a2474bbae96a4352e5ace5fa34dc44a217b0537fec1db00b4", size = 176548 }
+sdist = { url = "https://files.pythonhosted.org/packages/54/9c/9c0a9bfa683fc1be7fdcd9687635151544d992cccd48892dc5e0a5885a29/yarl-1.17.1.tar.gz", hash = "sha256:067a63fcfda82da6b198fa73079b1ca40b7c9b7994995b6ee38acda728b64d47", size = 178163 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0a/00/b29affe83de95e403f8a2a669b5a33f1e7dfe686264008100052eb0b05fd/yarl-1.16.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:d8643975a0080f361639787415a038bfc32d29208a4bf6b783ab3075a20b1ef3", size = 140120 },
-    { url = "https://files.pythonhosted.org/packages/3f/22/bcc9799950281a5d4f646536854839ccdbb965e900827ef0750680f81faf/yarl-1.16.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:676d96bafc8c2d0039cea0cd3fd44cee7aa88b8185551a2bb93354668e8315c2", size = 92956 },
-    { url = "https://files.pythonhosted.org/packages/33/0f/1b76d853d9d921d68bd9991648be17d34e7ac51e2e20e7658f8ee7e2e2ad/yarl-1.16.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d9525f03269e64310416dbe6c68d3b23e5d34aaa8f47193a1c45ac568cecbc49", size = 90891 },
-    { url = "https://files.pythonhosted.org/packages/61/19/3666d990c24aae98c748e2c262adc9b3a71e38834df007ac5317f4bbd789/yarl-1.16.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8b37d5ec034e668b22cf0ce1074d6c21fd2a08b90d11b1b73139b750a8b0dd97", size = 338857 },
-    { url = "https://files.pythonhosted.org/packages/a0/3d/54acbb3cdfcfea03d6a3535cff1e060a2de23e419a4e3955c9661171b8a8/yarl-1.16.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4f32c4cb7386b41936894685f6e093c8dfaf0960124d91fe0ec29fe439e201d0", size = 354005 },
-    { url = "https://files.pythonhosted.org/packages/15/98/cd9fe3938422c88775c94578a6c145aca89ff8368ff64e6032213ac12403/yarl-1.16.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5b8e265a0545637492a7e12fd7038370d66c9375a61d88c5567d0e044ded9202", size = 351195 },
-    { url = "https://files.pythonhosted.org/packages/e2/13/b6eff6ea1667aee948ecd6b1c8fb6473234f8e48f49af97be93251869c51/yarl-1.16.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:789a3423f28a5fff46fbd04e339863c169ece97c827b44de16e1a7a42bc915d2", size = 342789 },
-    { url = "https://files.pythonhosted.org/packages/fe/05/d98e65ea74a7e44bb033b2cf5bcc16edc1d5212bdc5ca7fbb5e380d89f8e/yarl-1.16.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f1d1f45e3e8d37c804dca99ab3cf4ab3ed2e7a62cd82542924b14c0a4f46d243", size = 336478 },
-    { url = "https://files.pythonhosted.org/packages/7d/47/43de2e94b75f36d84733a35c807d0e33aaf084e98f32e2cbc685102f4ba4/yarl-1.16.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:621280719c4c5dad4c1391160a9b88925bb8b0ff6a7d5af3224643024871675f", size = 346008 },
-    { url = "https://files.pythonhosted.org/packages/e2/de/9c2f900ec5e2f2e20329cfe7dcd9452e326d08cb5ecd098c2d4e9987b65c/yarl-1.16.0-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:ed097b26f18a1f5ff05f661dc36528c5f6735ba4ce8c9645e83b064665131349", size = 343745 },
-    { url = "https://files.pythonhosted.org/packages/56/cd/b014dce22e37b77caa37f998c6c47434fd78d01e7be07119629f369f5ee1/yarl-1.16.0-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:2f1fe2b2e3ee418862f5ebc0c0083c97f6f6625781382f828f6d4e9b614eba9b", size = 349705 },
-    { url = "https://files.pythonhosted.org/packages/07/17/bb191a26f7189423964e008ccb5146ce5258454ef3979f9d4c6860d282c7/yarl-1.16.0-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:87dd10bc0618991c66cee0cc65fa74a45f4ecb13bceec3c62d78ad2e42b27a16", size = 360767 },
-    { url = "https://files.pythonhosted.org/packages/19/09/7d777369e151991b708a5b35280ea7444621d65af5f0545bcdce5d840867/yarl-1.16.0-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:4199db024b58a8abb2cfcedac7b1292c3ad421684571aeb622a02f242280e8d6", size = 364755 },
-    { url = "https://files.pythonhosted.org/packages/00/32/7558997d1d2e53dab15f6db5db49fc6b412b63ede3cb8314e5dd7cff14fe/yarl-1.16.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:99a9dcd4b71dd5f5f949737ab3f356cfc058c709b4f49833aeffedc2652dac56", size = 357087 },
-    { url = "https://files.pythonhosted.org/packages/28/20/c49a95a30c57224e5fb0fc83235295684b041300ce508b71821cb042527d/yarl-1.16.0-cp311-cp311-win32.whl", hash = "sha256:a9394c65ae0ed95679717d391c862dece9afacd8fa311683fc8b4362ce8a410c", size = 83030 },
-    { url = "https://files.pythonhosted.org/packages/75/e3/2a746721d6f32886d9bafccdb80174349f180ccae0a287f25ba4312a2618/yarl-1.16.0-cp311-cp311-win_amd64.whl", hash = "sha256:5b9101f528ae0f8f65ac9d64dda2bb0627de8a50344b2f582779f32fda747c1d", size = 89616 },
-    { url = "https://files.pythonhosted.org/packages/3a/be/82f696c8ce0395c37f62b955202368086e5cc114d5bb9cb1b634cff5e01d/yarl-1.16.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:4ffb7c129707dd76ced0a4a4128ff452cecf0b0e929f2668ea05a371d9e5c104", size = 141230 },
-    { url = "https://files.pythonhosted.org/packages/38/60/45caaa748b53c4b0964f899879fcddc41faa4e0d12c6f0ae3311e8c151ff/yarl-1.16.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:1a5e9d8ce1185723419c487758d81ac2bde693711947032cce600ca7c9cda7d6", size = 93515 },
-    { url = "https://files.pythonhosted.org/packages/54/bd/33aaca2f824dc1d630729e16e313797e8b24c8f7b6803307e5394274e443/yarl-1.16.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:d743e3118b2640cef7768ea955378c3536482d95550222f908f392167fe62059", size = 91441 },
-    { url = "https://files.pythonhosted.org/packages/af/fa/1ce8ca85489925aabdb8d2e7bbeaf74e7d3e6ac069779d6d6b9c7c62a8ed/yarl-1.16.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:26768342f256e6e3c37533bf9433f5f15f3e59e3c14b2409098291b3efaceacb", size = 330871 },
-    { url = "https://files.pythonhosted.org/packages/f1/2a/a8110a225e498b87315827f8b61d24de35f86041834cf8c9c5544380c46b/yarl-1.16.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d1b0796168b953bca6600c5f97f5ed407479889a36ad7d17183366260f29a6b9", size = 340641 },
-    { url = "https://files.pythonhosted.org/packages/d0/64/20cd1cb1f60b3ff49e7d75c1a2083352e7c5939368aafa960712c9e53797/yarl-1.16.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:858728086914f3a407aa7979cab743bbda1fe2bdf39ffcd991469a370dd7414d", size = 340245 },
-    { url = "https://files.pythonhosted.org/packages/77/a8/7f38bbefb22eb925a68ad1d8193b05f51515614a6c0ebcadf26e9ae5e5ad/yarl-1.16.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5570e6d47bcb03215baf4c9ad7bf7c013e56285d9d35013541f9ac2b372593e7", size = 336054 },
-    { url = "https://files.pythonhosted.org/packages/b4/a6/ac633ea3ea0c4eb1057e6800db1d077e77493b4b3449a4a97b2fbefadef4/yarl-1.16.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:66ea8311422a7ba1fc79b4c42c2baa10566469fe5a78500d4e7754d6e6db8724", size = 324405 },
-    { url = "https://files.pythonhosted.org/packages/93/cd/4fc87ce9b0df7afb610ffb904f4aef25f59e0ad40a49da19a475facf98b7/yarl-1.16.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:649bddcedee692ee8a9b7b6e38582cb4062dc4253de9711568e5620d8707c2a3", size = 342235 },
-    { url = "https://files.pythonhosted.org/packages/9f/bc/38bae4b716da1206849d88e167d3d2c5695ae9b418a3915220947593e5ca/yarl-1.16.0-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:3a91654adb7643cb21b46f04244c5a315a440dcad63213033826549fa2435f71", size = 340835 },
-    { url = "https://files.pythonhosted.org/packages/dc/0f/b9efbc0075916a450cbad41299dff3bdd3393cb1d8378bb831c4a6a836e1/yarl-1.16.0-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:b439cae82034ade094526a8f692b9a2b5ee936452de5e4c5f0f6c48df23f8604", size = 344323 },
-    { url = "https://files.pythonhosted.org/packages/87/6d/dc483ea1574005f14ef4c5f5f726cf60327b07ac83bd417d98db23e5285f/yarl-1.16.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:571f781ae8ac463ce30bacebfaef2c6581543776d5970b2372fbe31d7bf31a07", size = 355112 },
-    { url = "https://files.pythonhosted.org/packages/10/22/3b7c3728d26b3cc295c51160ae4e2612ab7d3f9df30beece44bf72861730/yarl-1.16.0-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:aa7943f04f36d6cafc0cf53ea89824ac2c37acbdb4b316a654176ab8ffd0f968", size = 361506 },
-    { url = "https://files.pythonhosted.org/packages/ad/8d/b7b5d43cf22a020b564ddf7502d83df150d797e34f18f6bf5fe0f12cbd91/yarl-1.16.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:1a5cf32539373ff39d97723e39a9283a7277cbf1224f7aef0c56c9598b6486c3", size = 355746 },
-    { url = "https://files.pythonhosted.org/packages/d9/a6/a2098bf3f09d38eb540b2b192e180d9d41c2ff64b692783db2188f0a55e3/yarl-1.16.0-cp312-cp312-win32.whl", hash = "sha256:a5b6c09b9b4253d6a208b0f4a2f9206e511ec68dce9198e0fbec4f160137aa67", size = 82675 },
-    { url = "https://files.pythonhosted.org/packages/ed/a6/0a54b382cfc336e772b72681d6816a99222dc2d21876e649474973b8d244/yarl-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:1208ca14eed2fda324042adf8d6c0adf4a31522fa95e0929027cd487875f0240", size = 88986 },
-    { url = "https://files.pythonhosted.org/packages/fb/f7/87a32867ddc1a9817018bfd6109ee57646a543acf0d272843d8393e575f9/yarl-1.16.0-py3-none-any.whl", hash = "sha256:e6980a558d8461230c457218bd6c92dfc1d10205548215c2c21d79dc8d0a96f3", size = 43746 },
+    { url = "https://files.pythonhosted.org/packages/ec/0f/ce6a2c8aab9946446fb27f1e28f0fd89ce84ae913ab18a92d18078a1c7ed/yarl-1.17.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:cbad927ea8ed814622305d842c93412cb47bd39a496ed0f96bfd42b922b4a217", size = 140727 },
+    { url = "https://files.pythonhosted.org/packages/9d/df/204f7a502bdc3973cd9fc29e7dfad18ae48b3acafdaaf1ae07c0f41025aa/yarl-1.17.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:fca4b4307ebe9c3ec77a084da3a9d1999d164693d16492ca2b64594340999988", size = 93560 },
+    { url = "https://files.pythonhosted.org/packages/a2/e1/f4d522ae0560c91a4ea31113a50f00f85083be885e1092fc6e74eb43cb1d/yarl-1.17.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ff5c6771c7e3511a06555afa317879b7db8d640137ba55d6ab0d0c50425cab75", size = 91497 },
+    { url = "https://files.pythonhosted.org/packages/f1/82/783d97bf4a226f1a2e59b1966f2752244c2bf4dc89bc36f61d597b8e34e5/yarl-1.17.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b29beab10211a746f9846baa39275e80034e065460d99eb51e45c9a9495bcca", size = 339446 },
+    { url = "https://files.pythonhosted.org/packages/e5/ff/615600647048d81289c80907165de713fbc566d1e024789863a2f6563ba3/yarl-1.17.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1a52a1ffdd824fb1835272e125385c32fd8b17fbdefeedcb4d543cc23b332d74", size = 354616 },
+    { url = "https://files.pythonhosted.org/packages/a5/04/bfb7adb452bd19dfe0c35354ffce8ebc3086e028e5f8270e409d17da5466/yarl-1.17.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:58c8e9620eb82a189c6c40cb6b59b4e35b2ee68b1f2afa6597732a2b467d7e8f", size = 351801 },
+    { url = "https://files.pythonhosted.org/packages/10/e0/efe21edacdc4a638ce911f8cabf1c77cac3f60e9819ba7d891b9ceb6e1d4/yarl-1.17.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d216e5d9b8749563c7f2c6f7a0831057ec844c68b4c11cb10fc62d4fd373c26d", size = 343381 },
+    { url = "https://files.pythonhosted.org/packages/63/f9/7bc7e69857d6fc3920ecd173592f921d5701f4a0dd3f2ae293b386cfa3bf/yarl-1.17.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:881764d610e3269964fc4bb3c19bb6fce55422828e152b885609ec176b41cf11", size = 337093 },
+    { url = "https://files.pythonhosted.org/packages/93/52/99da61947466275ff17d7bc04b0ac31dfb7ec699bd8d8985dffc34c3a913/yarl-1.17.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:8c79e9d7e3d8a32d4824250a9c6401194fb4c2ad9a0cec8f6a96e09a582c2cc0", size = 346619 },
+    { url = "https://files.pythonhosted.org/packages/91/8a/8aaad86a35a16e485ba0e5de0d2ae55bf8dd0c9f1cccac12be4c91366b1d/yarl-1.17.1-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:299f11b44d8d3a588234adbe01112126010bd96d9139c3ba7b3badd9829261c3", size = 344347 },
+    { url = "https://files.pythonhosted.org/packages/af/b6/97f29f626b4a1768ffc4b9b489533612cfcb8905c90f745aade7b2eaf75e/yarl-1.17.1-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:cc7d768260f4ba4ea01741c1b5fe3d3a6c70eb91c87f4c8761bbcce5181beafe", size = 350316 },
+    { url = "https://files.pythonhosted.org/packages/d7/98/8e0e8b812479569bdc34d66dd3e2471176ca33be4ff5c272a01333c4b269/yarl-1.17.1-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:de599af166970d6a61accde358ec9ded821234cbbc8c6413acfec06056b8e860", size = 361336 },
+    { url = "https://files.pythonhosted.org/packages/9e/d3/d1507efa0a85c25285f8eb51df9afa1ba1b6e446dda781d074d775b6a9af/yarl-1.17.1-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:2b24ec55fad43e476905eceaf14f41f6478780b870eda5d08b4d6de9a60b65b4", size = 365350 },
+    { url = "https://files.pythonhosted.org/packages/22/ba/ee7f1830449c96bae6f33210b7d89e8aaf3079fbdaf78ac398e50a9da404/yarl-1.17.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:9fb815155aac6bfa8d86184079652c9715c812d506b22cfa369196ef4e99d1b4", size = 357689 },
+    { url = "https://files.pythonhosted.org/packages/a0/85/321c563dc5afe1661108831b965c512d185c61785400f5606006507d2e18/yarl-1.17.1-cp311-cp311-win32.whl", hash = "sha256:7615058aabad54416ddac99ade09a5510cf77039a3b903e94e8922f25ed203d7", size = 83635 },
+    { url = "https://files.pythonhosted.org/packages/bc/da/543a32c00860588ff1235315b68f858cea30769099c32cd22b7bb266411b/yarl-1.17.1-cp311-cp311-win_amd64.whl", hash = "sha256:14bc88baa44e1f84164a392827b5defb4fa8e56b93fecac3d15315e7c8e5d8b3", size = 90218 },
+    { url = "https://files.pythonhosted.org/packages/5d/af/e25615c7920396219b943b9ff8b34636ae3e1ad30777649371317d7f05f8/yarl-1.17.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:327828786da2006085a4d1feb2594de6f6d26f8af48b81eb1ae950c788d97f61", size = 141839 },
+    { url = "https://files.pythonhosted.org/packages/83/5e/363d9de3495c7c66592523f05d21576a811015579e0c87dd38c7b5788afd/yarl-1.17.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:cc353841428d56b683a123a813e6a686e07026d6b1c5757970a877195f880c2d", size = 94125 },
+    { url = "https://files.pythonhosted.org/packages/e3/a2/b65447626227ebe36f18f63ac551790068bf42c69bb22dfa3ae986170728/yarl-1.17.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:c73df5b6e8fabe2ddb74876fb82d9dd44cbace0ca12e8861ce9155ad3c886139", size = 92048 },
+    { url = "https://files.pythonhosted.org/packages/a1/f5/2ef86458446f85cde10582054fd5113495ef8ce8477da35aaaf26d2970ef/yarl-1.17.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0bdff5e0995522706c53078f531fb586f56de9c4c81c243865dd5c66c132c3b5", size = 331472 },
+    { url = "https://files.pythonhosted.org/packages/f3/6b/1ba79758ba352cdf2ad4c20cab1b982dd369aa595bb0d7601fc89bf82bee/yarl-1.17.1-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:06157fb3c58f2736a5e47c8fcbe1afc8b5de6fb28b14d25574af9e62150fcaac", size = 341260 },
+    { url = "https://files.pythonhosted.org/packages/2d/41/4e07c2afca3f9ed3da5b0e38d43d0280d9b624a3d5c478c425e5ce17775c/yarl-1.17.1-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1654ec814b18be1af2c857aa9000de7a601400bd4c9ca24629b18486c2e35463", size = 340882 },
+    { url = "https://files.pythonhosted.org/packages/c3/c0/cd8e94618983c1b811af082e1a7ad7764edb3a6af2bc6b468e0e686238ba/yarl-1.17.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7f6595c852ca544aaeeb32d357e62c9c780eac69dcd34e40cae7b55bc4fb1147", size = 336648 },
+    { url = "https://files.pythonhosted.org/packages/ac/fc/73ec4340d391ffbb8f34eb4c55429784ec9f5bd37973ce86d52d67135418/yarl-1.17.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:459e81c2fb920b5f5df744262d1498ec2c8081acdcfe18181da44c50f51312f7", size = 325019 },
+    { url = "https://files.pythonhosted.org/packages/57/48/da3ebf418fc239d0a156b3bdec6b17a5446f8d2dea752299c6e47b143a85/yarl-1.17.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:7e48cdb8226644e2fbd0bdb0a0f87906a3db07087f4de77a1b1b1ccfd9e93685", size = 342841 },
+    { url = "https://files.pythonhosted.org/packages/5d/79/107272745a470a8167924e353a5312eb52b5a9bb58e22686adc46c94f7ec/yarl-1.17.1-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:d9b6b28a57feb51605d6ae5e61a9044a31742db557a3b851a74c13bc61de5172", size = 341433 },
+    { url = "https://files.pythonhosted.org/packages/30/9c/6459668b3b8dcc11cd061fc53e12737e740fb6b1575b49c84cbffb387b3a/yarl-1.17.1-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:e594b22688d5747b06e957f1ef822060cb5cb35b493066e33ceac0cf882188b7", size = 344927 },
+    { url = "https://files.pythonhosted.org/packages/c5/0b/93a17ed733aca8164fc3a01cb7d47b3f08854ce4f957cce67a6afdb388a0/yarl-1.17.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:5f236cb5999ccd23a0ab1bd219cfe0ee3e1c1b65aaf6dd3320e972f7ec3a39da", size = 355732 },
+    { url = "https://files.pythonhosted.org/packages/9a/63/ead2ed6aec3c59397e135cadc66572330325a0c24cd353cd5c94f5e63463/yarl-1.17.1-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:a2a64e62c7a0edd07c1c917b0586655f3362d2c2d37d474db1a509efb96fea1c", size = 362123 },
+    { url = "https://files.pythonhosted.org/packages/89/bf/f6b75b4c2fcf0e7bb56edc0ed74e33f37fac45dc40e5a52a3be66b02587a/yarl-1.17.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:d0eea830b591dbc68e030c86a9569826145df485b2b4554874b07fea1275a199", size = 356355 },
+    { url = "https://files.pythonhosted.org/packages/45/1f/50a0257cd07eef65c8c65ad6a21f5fb230012d659e021aeb6ac8a7897bf6/yarl-1.17.1-cp312-cp312-win32.whl", hash = "sha256:46ddf6e0b975cd680eb83318aa1d321cb2bf8d288d50f1754526230fcf59ba96", size = 83279 },
+    { url = "https://files.pythonhosted.org/packages/bc/82/fafb2c1268d63d54ec08b3a254fbe51f4ef098211501df646026717abee3/yarl-1.17.1-cp312-cp312-win_amd64.whl", hash = "sha256:117ed8b3732528a1e41af3aa6d4e08483c2f0f2e3d3d7dca7cf538b3516d93df", size = 89590 },
+    { url = "https://files.pythonhosted.org/packages/52/ad/1fe7ff5f3e8869d4c5070f47b96bac2b4d15e67c100a8278d8e7876329fc/yarl-1.17.1-py3-none-any.whl", hash = "sha256:f1790a4b1e8e8e028c391175433b9c8122c39b46e1663228158e61e6f915bf06", size = 44352 },
 ]

 [[package]]
 name = "zipp"
-version = "3.20.2"
+version = "3.21.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/54/bf/5c0000c44ebc80123ecbdddba1f5dcd94a5ada602a9c225d84b5aaa55e86/zipp-3.20.2.tar.gz", hash = "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29", size = 24199 }
+sdist = { url = "https://files.pythonhosted.org/packages/3f/50/bad581df71744867e9468ebd0bcd6505de3b275e06f202c2cb016e3ff56f/zipp-3.21.0.tar.gz", hash = "sha256:2c9958f6430a2040341a52eb608ed6dd93ef4392e02ffe219417c1b28b5dd1f4", size = 24545 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/62/8b/5ba542fa83c90e09eac972fc9baca7a88e7e7ca4b221a89251954019308b/zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350", size = 9200 },
+    { url = "https://files.pythonhosted.org/packages/b7/1a/7e4798e9339adc931158c9d69ecc34f5e6791489d469f5e50ec15e35f458/zipp-3.21.0-py3-none-any.whl", hash = "sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931", size = 9630 },
 ]

 [[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