Tools: Update setup command for macOS native setup

* test

* not replay

* up

* text

* text

* fix

* no

* commit

* clean

.devcontainer/.gitignore

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

.devcontainer/Dockerfile

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

.devcontainer/container_post_create.sh

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

.devcontainer/container_post_start.sh

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

.devcontainer/devcontainer.json

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

.devcontainer/host_setup

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

.devcontainer/host_setup.cmd

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

.github/PULL_REQUEST_TEMPLATE/car_port.md

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

.github/pull_request_template.md

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

.github/workflows/ci_weekly_run.yaml

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

.github/workflows/repo-maintenance.yaml

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

.github/workflows/selfdrive_tests.yaml

@@ -32,9 +32,9 @@ env:
 jobs:
   build_release:
     name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -75,15 +75,9 @@ jobs:
         ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
-    strategy:
-      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
-                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
-                   'ubuntu-latest'}}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -92,7 +86,6 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
     - uses: ./.github/workflows/compile-openpilot
@@ -123,28 +116,11 @@ jobs:
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
   static_analysis:
     name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       PYTHONWARNINGS: default
     steps:
@@ -158,9 +134,9 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -185,9 +161,9 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -238,9 +214,9 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     strategy:
       fail-fast: false
       matrix:
@@ -330,9 +306,9 @@ jobs:
 
   simulator_driving:
     name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -351,9 +327,9 @@ jobs:
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/tools_tests.yaml

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

Dockerfile.openpilot_base

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

Jenkinsfile

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

SConstruct

@@ -366,6 +366,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',

cereal/log.capnp

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

cereal/messaging/tests/test_services.py

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

common/params.cc

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

common/prefix.h

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

common/prefix.py

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

common/realtime.py

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

common/watchdog.cc

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

docs/CARS.md

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

launch_env.sh

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

pyproject.toml

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

release/release_files.py

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

scripts/code_stats.py

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

scripts/lint/check_raylib_includes.sh

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

scripts/lint/lint.sh

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

scripts/waste.py

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

selfdrive/car/tests/test_docs.py

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

selfdrive/debug/can_printer.py

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

selfdrive/debug/check_can_parser_performance.py

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

selfdrive/debug/count_events.py

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

selfdrive/debug/fingerprint_from_route.py

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

selfdrive/debug/get_fingerprint.py

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

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -1,4 +1,3 @@
-import pytest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -87,8 +86,6 @@ def run_scenarios(scenario, logs):
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
 
 
-@pytest.mark.xdist_group("test_locationd_scenarios")
-@pytest.mark.shared_download_cache
 class TestLocationdScenarios:
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:

selfdrive/modeld/dmonitoringmodeld.py

@@ -12,7 +12,6 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
@@ -126,7 +125,6 @@ def main():
   cl_context = CLContext()
   model = ModelState(cl_context)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
-  Params().put_bool("DmModelInitialized", True)
 
   cloudlog.warning("connecting to driver stream")
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)

selfdrive/pandad/tests/test_pandad_loopback.py

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

selfdrive/pandad/tests/test_pandad_spi.py

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

selfdrive/selfdrived/tests/test_alerts.py

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

selfdrive/test/helpers.py

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

selfdrive/test/process_replay/process_replay.py

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

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-4bf2792e5997c0d916fa9be4442fd4c4901f597a
+255ceb08c75bc85379da5ec247e612be3716fb43

selfdrive/ui/SConscript

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

selfdrive/ui/qt/home.cc

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

selfdrive/ui/raylib/.gitignore

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

selfdrive/ui/raylib/SConscript

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

system/athena/athenad.py

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

system/athena/tests/test_athenad.py

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

system/camerad/cameras/camera_common.cc

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

system/camerad/cameras/camera_common.h

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

system/camerad/cameras/camera_qcom2.cc

@@ -69,10 +69,10 @@ public:
 };
 
 void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  if (!camera.enabled) return;
-
   camera.camera_open(v, device_id, ctx);
 
+  if (!camera.enabled) return;
+
   fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
   set_exposure_rect();
 

system/camerad/cameras/spectra.cc

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

system/camerad/cameras/spectra.h

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

system/camerad/test/test_camerad.py

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

system/camerad/test/test_exposure.py

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

system/hardware/base.py

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

system/hardware/hardwared.py

@@ -51,39 +51,6 @@ OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
-tz_by_type: dict[str, int] | None = None
-def populate_tz_by_type():
-  global tz_by_type
-  tz_by_type = {}
-  for n in os.listdir("/sys/devices/virtual/thermal"):
-    if not n.startswith("thermal_zone"):
-      continue
-    with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
-
-def read_tz(x):
-  if x is None:
-    return 0
-
-  if isinstance(x, str):
-    if tz_by_type is None:
-      populate_tz_by_type()
-    x = tz_by_type[x]
-
-  try:
-    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
-      return int(f.read())
-  except FileNotFoundError:
-    return 0
-
-
-def read_thermal(thermal_config):
-  dat = messaging.new_message('deviceState', valid=True)
-  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
-  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
-  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
-  return dat
 
 
 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
@@ -232,7 +199,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
-    msg = read_thermal(thermal_config)
+    msg = messaging.new_message('deviceState', valid=True)
+    msg.deviceState = thermal_config.get_msg()
     msg.deviceState.deviceType = HARDWARE.get_device_type()
 
     try:
@@ -262,13 +230,13 @@ def hardware_thread(end_event, hw_queue) -> None:
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
-      max(msg.deviceState.cpuTempC),
-      max(msg.deviceState.gpuTempC),
+      max(msg.deviceState.cpuTempC, default=0.),
+      max(msg.deviceState.gpuTempC, default=0.),
     ]
     offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))
 
     # this drives the thermal status while onroad
-    temp_sources.append(max(msg.deviceState.pmicTempC))
+    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 

system/hardware/hw.h

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

system/hardware/hw.py

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

system/hardware/pc/hardware.py

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

system/hardware/tici/agnos.json

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

system/hardware/tici/hardware.py

@@ -10,7 +10,7 @@ from pathlib import Path
 
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -323,12 +323,19 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
-                              ["cpu%d-gold-usr" % i for i in range(4)], 1000),
-                         gpu=(("gpu0-usr", "gpu1-usr"), 1000),
-                         mem=("ddr-usr", 1000),
-                         bat=(None, 1),
-                         pmic=(("pm8998_tz", "pm8005_tz"), 1000))
+    intake, exhaust, case = None, None, None
+    if self.get_device_type() == "mici":
+      case = ThermalZone("case")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
+                         intake=intake,
+                         exhaust=exhaust,
+                         case=case)
 
   def set_screen_brightness(self, percentage):
     try:
@@ -480,14 +487,16 @@ class Tici(HardwareBase):
         'AT$QCNETDEVCTL=3,1',
       ]
     else:
-      cmds += [
-        # SIM sleep disable
-        'AT$QCSIMSLEEP=0',
-        'AT$QCSIMCFG=SimPowerSave,0',
+      # this modem gets upset with too many AT commands
+      if sim_id is None or len(sim_id) == 0:
+        cmds += [
+          # SIM sleep disable
+          'AT$QCSIMSLEEP=0',
+          'AT$QCSIMCFG=SimPowerSave,0',
 
-        # ethernet config
-        'AT$QCPCFG=usbNet,1',
-      ]
+          # ethernet config
+          'AT$QCPCFG=usbNet,1',
+        ]
 
     for cmd in cmds:
       try:
@@ -586,3 +595,4 @@ if __name__ == "__main__":
   t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
+  print(t.get_sim_info())

system/manager/manager.py

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

system/manager/process.py

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

system/manager/process_config.py

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

system/qcomgpsd/qcomgpsd.py

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

system/qcomgpsd/structs.py

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

system/ubloxd/tests/print_gps_stats.py

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

system/ui/.gitignore

@@ -0,0 +1 @@
+spinner

system/ui/SConscript

@@ -0,0 +1,23 @@
+import subprocess
+
+Import('env', 'arch', 'common')
+
+renv = env.Clone()
+
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+
+if not UBUNTU_FOCAL:
+  rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
+  linked_libs = ['raylib', rayutil, common]
+  renv['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 += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
+  else:
+    linked_libs += ['OpenCL', 'dl', 'pthread']
+
+  if arch != 'aarch64':
+    renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)

system/ui/raylib/raylib.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#define OPENPILOT_RAYLIB
+
+#include "third_party/raylib/include/raylib.h"

system/ui/raylib/spinner.cc

@@ -2,8 +2,7 @@
 #include <cmath>
 #include <iostream>
 
-#include "selfdrive/ui/raylib/util.h"
-#include "third_party/raylib/include/raylib.h"
+#include "system/ui/raylib/util.h"
 
 constexpr int kProgressBarWidth = 1000;
 constexpr int kProgressBarHeight = 20;
@@ -19,15 +18,15 @@ int main(int argc, char *argv[]) {
   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);
+  Texture2D commaTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_comma.png", kTextureSize);
+  Texture2D spinnerTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_track.png", kTextureSize);
 
   float rotation = 0.0f;
   std::string userInput;
 
   while (!WindowShouldClose()) {
     BeginDrawing();
-    ClearBackground(BLACK);
+    ClearBackground(RAYLIB_BLACK);
 
     rotation = fmod(rotation + kRotationRate, 360.0f);
     Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
@@ -37,8 +36,8 @@ int main(int argc, char *argv[]) {
     // 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);
+                   spinnerOrigin, rotation, RAYLIB_WHITE);
+    DrawTextureV(commaTexture, commaPosition, RAYLIB_WHITE);
 
     // Check for user input
     if (std::cin.rdbuf()->in_avail() > 0) {
@@ -50,14 +49,14 @@ int main(int argc, char *argv[]) {
       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);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_GRAY);
 
         int progress = std::clamp(std::stoi(userInput), 0, 100);
         bar.width *= progress / 100.0f;
-        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_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);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
       }
     }
 

system/ui/raylib/util.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/ui/raylib/util.h"
+#include "system/ui/raylib/util.h"
 
 #include <array>
 
@@ -23,7 +23,6 @@ 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);
     }
   }
 
@@ -43,7 +42,6 @@ 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;
 }
 
@@ -51,6 +49,6 @@ void initApp(const char *title, int fps) {
   Hardware::set_display_power(true);
   Hardware::set_brightness(65);
   // SetTraceLogLevel(LOG_NONE);
-  InitWindow(0, 0, title);
+  InitWindow(2160, 1080, title);
   SetTargetFPS(fps);
 }

system/ui/raylib/util.h

@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include "third_party/raylib/include/raylib.h"
+#include "system/ui/raylib/raylib.h"
 
 enum class FontWeight {
   Normal,

third_party/raylib/include/raylib.h

@@ -1,22 +1,22 @@
 /**********************************************************************************************
 *
-*   raylib v5.0 - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
+*   raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
 *
 *   FEATURES:
 *       - NO external dependencies, all required libraries included with raylib
 *       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
 *                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
 *       - Written in plain C code (C99) in PascalCase/camelCase notation
-*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3 or ES2 - choose at compile)
+*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
 *       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
-*       - Multiple Fonts formats supported (TTF, XNA fonts, AngelCode fonts)
+*       - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
 *       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
 *       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
 *       - Flexible Materials system, supporting classic maps and PBR maps
-*       - Animated 3D models supported (skeletal bones animation) (IQM)
+*       - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
 *       - Shaders support, including Model shaders and Postprocessing shaders
 *       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
-*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, XM, MOD)
+*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
 *       - VR stereo rendering with configurable HMD device parameters
 *       - Bindings to multiple programming languages available!
 *
@@ -27,29 +27,35 @@
 *       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
 *
 *   DEPENDENCIES (included):
-*       [rcore] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input (PLATFORM_DESKTOP)
-*       [rlgl] glad (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading (PLATFORM_DESKTOP)
+*       [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
+*       [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
+*       [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
 *       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
 *
 *   OPTIONAL DEPENDENCIES (included):
 *       [rcore] msf_gif (Miles Fogle) for GIF recording
 *       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
 *       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
+*       [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
+*       [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
 *       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
 *       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
-*       [rtextures] stb_image_resize (Sean Barret) for image resizing algorithms
+*       [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
+*       [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
 *       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
 *       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
 *       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
 *       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
 *       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
-*       [rmodels] Model3D (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
+*       [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
+*       [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
 *       [raudio] dr_wav (David Reid) for WAV audio file loading
 *       [raudio] dr_flac (David Reid) for FLAC audio file loading
 *       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
 *       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
 *       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
 *       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
+*       [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
 *
 *
 *   LICENSE: zlib/libpng
@@ -57,7 +63,7 @@
 *   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
 *   BSD-like license that allows static linking with closed source software:
 *
-*   Copyright (c) 2013-2023 Ramon Santamaria (@raysan5)
+*   Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
 *
 *   This software is provided "as-is", without any express or implied warranty. In no event
 *   will the authors be held liable for any damages arising from the use of this software.
@@ -82,21 +88,26 @@
 #include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
 
 #define RAYLIB_VERSION_MAJOR 5
-#define RAYLIB_VERSION_MINOR 0
+#define RAYLIB_VERSION_MINOR 6
 #define RAYLIB_VERSION_PATCH 0
-#define RAYLIB_VERSION  "5.0"
+#define RAYLIB_VERSION  "5.6-dev"
 
-// Function specifiers in case library is build/used as a shared library (Windows)
+// Function specifiers in case library is build/used as a shared library
 // NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
+// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
 #if defined(_WIN32)
+    #if defined(__TINYC__)
+        #define __declspec(x) __attribute__((x))
+    #endif
     #if defined(BUILD_LIBTYPE_SHARED)
-        #if defined(__TINYC__)
-            #define __declspec(x) __attribute__((x))
-        #endif
         #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
     #elif defined(USE_LIBTYPE_SHARED)
         #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
     #endif
+#else
+    #if defined(BUILD_LIBTYPE_SHARED)
+        #define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
+    #endif
 #endif
 
 #ifndef RLAPI
@@ -161,33 +172,91 @@
 
 // Some Basic Colors
 // NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
+#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
+#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
+#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
+#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
+#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
+#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
+#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
+#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
+#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
+#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
+#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
+#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
+#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
+#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
+#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
+#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
+#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
+#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
+#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
+#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
+#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
 
-#define WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
+#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
+#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
+#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
+#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+
+#ifndef OPENPILOT_RAYLIB
+  #define LIGHTGRAY  _rl_LIGHTGRAY
+  #define GRAY       _rl_GRAY
+  #define DARKGRAY   _rl_DARKGRAY
+  #define YELLOW     _rl_YELLOW
+  #define GOLD       _rl_GOLD
+  #define ORANGE     _rl_ORANGE
+  #define PINK       _rl_PINK
+  #define RED        _rl_RED
+  #define MAROON     _rl_MAROON
+  #define GREEN      _rl_GREEN
+  #define LIME       _rl_LIME
+  #define DARKGREEN  _rl_DARKGREEN
+  #define SKYBLUE    _rl_SKYBLUE
+  #define BLUE       _rl_BLUE
+  #define DARKBLUE   _rl_DARKBLUE
+  #define PURPLE     _rl_PURPLE
+  #define VIOLET     _rl_VIOLET
+  #define DARKPURPLE _rl_DARKBLUE
+  #define BEIGE      _rl_BEIGE
+  #define BROWN      _rl_BROWN
+  #define DARKBROWN  _rl_DARKBROWN
+
+  #define WHITE      _rl_WHITE
+  #define BLACK      _rl_BLACK
+  #define BLANK      _rl_BLANK
+  #define MAGENTA    _rl_MAGENTA
+  #define RAYWHITE   _rl_RAYWHITE
+#else
+  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
+  #define RAYLIB_GRAY       _rl_GRAY
+  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
+  #define RAYLIB_YELLOW     _rl_YELLOW
+  #define RAYLIB_GOLD       _rl_GOLD
+  #define RAYLIB_ORANGE     _rl_ORANGE
+  #define RAYLIB_PINK       _rl_PINK
+  #define RAYLIB_RED        _rl_RED
+  #define RAYLIB_MAROON     _rl_MAROON
+  #define RAYLIB_GREEN      _rl_GREEN
+  #define RAYLIB_LIME       _rl_LIME
+  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
+  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
+  #define RAYLIB_BLUE       _rl_BLUE
+  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
+  #define RAYLIB_PURPLE     _rl_PURPLE
+  #define RAYLIB_VIOLET     _rl_VIOLET
+  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
+  #define RAYLIB_BEIGE      _rl_BEIGE
+  #define RAYLIB_BROWN      _rl_BROWN
+  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
+
+  #define RAYLIB_WHITE      _rl_WHITE
+  #define RAYLIB_BLACK      _rl_BLACK
+  #define RAYLIB_BLANK      _rl_BLANK
+  #define RAYLIB_MAGENTA    _rl_MAGENTA
+  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
+#endif
 
 //----------------------------------------------------------------------------------
 // Structures Definition
@@ -347,8 +416,10 @@ typedef struct Mesh {
     // Animation vertex data
     float *animVertices;    // Animated vertex positions (after bones transformations)
     float *animNormals;     // Animated normals (after bones transformations)
-    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning)
-    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning)
+    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
+    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
+    Matrix *boneMatrices;   // Bones animated transformation matrices
+    int boneCount;          // Number of bones
 
     // OpenGL identifiers
     unsigned int vaoId;     // OpenGL Vertex Array Object id
@@ -416,7 +487,7 @@ typedef struct ModelAnimation {
 // Ray, ray for raycasting
 typedef struct Ray {
     Vector3 position;       // Ray position (origin)
-    Vector3 direction;      // Ray direction
+    Vector3 direction;      // Ray direction (normalized)
 } Ray;
 
 // RayCollision, ray hit information
@@ -479,7 +550,6 @@ typedef struct VrDeviceInfo {
     int vResolution;                // Vertical resolution in pixels
     float hScreenSize;              // Horizontal size in meters
     float vScreenSize;              // Vertical size in meters
-    float vScreenCenter;            // Screen center in meters
     float eyeToScreenDistance;      // Distance between eye and display in meters
     float lensSeparationDistance;   // Lens separation distance in meters
     float interpupillaryDistance;   // IPD (distance between pupils) in meters
@@ -673,7 +743,7 @@ typedef enum {
     KEY_KP_EQUAL        = 336,      // Key: Keypad =
     // Android key buttons
     KEY_BACK            = 4,        // Key: Android back button
-    KEY_MENU            = 82,       // Key: Android menu button
+    KEY_MENU            = 5,        // Key: Android menu button
     KEY_VOLUME_UP       = 24,       // Key: Android volume up button
     KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
 } KeyboardKey;
@@ -717,12 +787,12 @@ typedef enum {
     GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
     GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
     GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
-    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Square, Xbox: X)
+    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
     GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
-    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Circle, Xbox: B)
+    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Square, Xbox: X)
     GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
     GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (one), it could be a trailing button
+    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (first), it could be a trailing button
     GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
     GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
     GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
@@ -786,7 +856,10 @@ typedef enum {
     SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
     SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
     SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
-    SHADER_LOC_MAP_BRDF             // Shader location: sampler2d texture: brdf
+    SHADER_LOC_MAP_BRDF,            // Shader location: sampler2d texture: brdf
+    SHADER_LOC_VERTEX_BONEIDS,      // Shader location: vertex attribute: boneIds
+    SHADER_LOC_VERTEX_BONEWEIGHTS,  // Shader location: vertex attribute: boneWeights
+    SHADER_LOC_BONE_MATRICES        // Shader location: array of matrices uniform: boneMatrices
 } ShaderLocationIndex;
 
 #define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
@@ -868,8 +941,7 @@ typedef enum {
     CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
     CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
     CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
-    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE,     // Layout is defined by a 4x3 cross with cubemap faces
-    CUBEMAP_LAYOUT_PANORAMA                 // Layout is defined by a panorama image (equirrectangular map)
+    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE     // Layout is defined by a 4x3 cross with cubemap faces
 } CubemapLayout;
 
 // Font type, defines generation method
@@ -909,11 +981,11 @@ typedef enum {
 
 // Camera system modes
 typedef enum {
-    CAMERA_CUSTOM = 0,              // Custom camera
-    CAMERA_FREE,                    // Free camera
-    CAMERA_ORBITAL,                 // Orbital camera
-    CAMERA_FIRST_PERSON,            // First person camera
-    CAMERA_THIRD_PERSON             // Third person camera
+    CAMERA_CUSTOM = 0,              // Camera custom, controlled by user (UpdateCamera() does nothing)
+    CAMERA_FREE,                    // Camera free mode
+    CAMERA_ORBITAL,                 // Camera orbital, around target, zoom supported
+    CAMERA_FIRST_PERSON,            // Camera first person
+    CAMERA_THIRD_PERSON             // Camera third person
 } CameraMode;
 
 // Camera projection
@@ -930,7 +1002,7 @@ typedef enum {
 } NPatchLayout;
 
 // Callbacks to hook some internal functions
-// WARNING: These callbacks are intended for advance users
+// WARNING: These callbacks are intended for advanced users
 typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
 typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
 typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
@@ -956,36 +1028,36 @@ RLAPI void CloseWindow(void);                                     // Close windo
 RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
 RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
 RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
-RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden (only PLATFORM_DESKTOP)
-RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized (only PLATFORM_DESKTOP)
-RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized (only PLATFORM_DESKTOP)
-RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused (only PLATFORM_DESKTOP)
+RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden
+RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized
+RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized
+RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused
 RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
 RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
-RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags (only PLATFORM_DESKTOP)
+RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags
 RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
-RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed (only PLATFORM_DESKTOP)
-RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed (only PLATFORM_DESKTOP)
-RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable (only PLATFORM_DESKTOP)
-RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable (only PLATFORM_DESKTOP)
-RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized (only PLATFORM_DESKTOP)
-RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit, only PLATFORM_DESKTOP)
-RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit, only PLATFORM_DESKTOP)
-RLAPI void SetWindowTitle(const char *title);                     // Set title for window (only PLATFORM_DESKTOP and PLATFORM_WEB)
-RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen (only PLATFORM_DESKTOP)
+RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
+RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed, resizes window to match monitor resolution
+RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable
+RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable
+RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized
+RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit)
+RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit)
+RLAPI void SetWindowTitle(const char *title);                     // Set title for window
+RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen
 RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
 RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
 RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
 RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
-RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f] (only PLATFORM_DESKTOP)
-RLAPI void SetWindowFocused(void);                                // Set window focused (only PLATFORM_DESKTOP)
+RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f]
+RLAPI void SetWindowFocused(void);                                // Set window focused
 RLAPI void *GetWindowHandle(void);                                // Get native window handle
 RLAPI int GetScreenWidth(void);                                   // Get current screen width
 RLAPI int GetScreenHeight(void);                                  // Get current screen height
 RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
 RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
 RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
-RLAPI int GetCurrentMonitor(void);                                // Get current connected monitor
+RLAPI int GetCurrentMonitor(void);                                // Get current monitor where window is placed
 RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
 RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
 RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
@@ -997,6 +1069,7 @@ RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window
 RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
 RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
 RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
+RLAPI Image GetClipboardImage(void);                              // Get clipboard image content
 RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
 RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
 
@@ -1035,7 +1108,7 @@ RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR s
 // NOTE: Shader functionality is not available on OpenGL 1.1
 RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
 RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
-RLAPI bool IsShaderReady(Shader shader);                                   // Check if a shader is ready
+RLAPI bool IsShaderValid(Shader shader);                                   // Check if a shader is valid (loaded on GPU)
 RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
 RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
 RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
@@ -1045,13 +1118,15 @@ RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture)
 RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
 
 // Screen-space-related functions
-RLAPI Ray GetMouseRay(Vector2 mousePosition, Camera camera);      // Get a ray trace from mouse position
-RLAPI Matrix GetCameraMatrix(Camera camera);                      // Get camera transform matrix (view matrix)
-RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                  // Get camera 2d transform matrix
-RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);  // Get the screen space position for a 3d world space position
-RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera); // Get the world space position for a 2d camera screen space position
+#define GetMouseRay GetScreenToWorldRay     // Compatibility hack for previous raylib versions
+RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera);         // Get a ray trace from screen position (i.e mouse)
+RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
+RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);        // Get the screen space position for a 3d world space position
 RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
-RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera); // Get the screen space position for a 2d camera world space position
+RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera);    // Get the screen space position for a 2d camera world space position
+RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera);    // Get the world space position for a 2d camera screen space position
+RLAPI Matrix GetCameraMatrix(Camera camera);                            // Get camera transform matrix (view matrix)
+RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                        // Get camera 2d transform matrix
 
 // Timing-related functions
 RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
@@ -1060,7 +1135,7 @@ RLAPI double GetTime(void);                                       // Get elapsed
 RLAPI int GetFPS(void);                                           // Get current FPS
 
 // Custom frame control functions
-// NOTE: Those functions are intended for advance users that want full control over the frame processing
+// NOTE: Those functions are intended for advanced users that want full control over the frame processing
 // By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
 // To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
 RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
@@ -1087,7 +1162,7 @@ RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal me
 RLAPI void MemFree(void *ptr);                                    // Internal memory free
 
 // Set custom callbacks
-// WARNING: Callbacks setup is intended for advance users
+// WARNING: Callbacks setup is intended for advanced users
 RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
 RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
 RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
@@ -1116,10 +1191,12 @@ RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full pa
 RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
 RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
 RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
+RLAPI int MakeDirectory(const char *dirPath);                     // Create directories (including full path requested), returns 0 on success
 RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
 RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
+RLAPI bool IsFileNameValid(const char *fileName);                 // Check if fileName is valid for the platform/OS
 RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
-RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan
+RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
 RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
 RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
 RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
@@ -1131,10 +1208,14 @@ RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *
 RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
 RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
 RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
+RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize);     // Compute CRC32 hash code
+RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize);      // Compute MD5 hash code, returns static int[4] (16 bytes)
+RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize);     // Compute SHA1 hash code, returns static int[5] (20 bytes)
+
 
 // Automation events functionality
 RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
-RLAPI void UnloadAutomationEventList(AutomationEventList *list);                        // Unload automation events list from file
+RLAPI void UnloadAutomationEventList(AutomationEventList list);                         // Unload automation events list from file
 RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
 RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
 RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
@@ -1148,7 +1229,7 @@ RLAPI void PlayAutomationEvent(AutomationEvent event);
 
 // Input-related functions: keyboard
 RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
-RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again (Only PLATFORM_DESKTOP)
+RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again
 RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
 RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
 RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
@@ -1157,16 +1238,17 @@ RLAPI int GetCharPressed(void);                               // Get char presse
 RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
 
 // Input-related functions: gamepads
-RLAPI bool IsGamepadAvailable(int gamepad);                   // Check if a gamepad is available
-RLAPI const char *GetGamepadName(int gamepad);                // Get gamepad internal name id
-RLAPI bool IsGamepadButtonPressed(int gamepad, int button);   // Check if a gamepad button has been pressed once
-RLAPI bool IsGamepadButtonDown(int gamepad, int button);      // Check if a gamepad button is being pressed
-RLAPI bool IsGamepadButtonReleased(int gamepad, int button);  // Check if a gamepad button has been released once
-RLAPI bool IsGamepadButtonUp(int gamepad, int button);        // Check if a gamepad button is NOT being pressed
-RLAPI int GetGamepadButtonPressed(void);                      // Get the last gamepad button pressed
-RLAPI int GetGamepadAxisCount(int gamepad);                   // Get gamepad axis count for a gamepad
-RLAPI float GetGamepadAxisMovement(int gamepad, int axis);    // Get axis movement value for a gamepad axis
-RLAPI int SetGamepadMappings(const char *mappings);           // Set internal gamepad mappings (SDL_GameControllerDB)
+RLAPI bool IsGamepadAvailable(int gamepad);                                        // Check if a gamepad is available
+RLAPI const char *GetGamepadName(int gamepad);                                     // Get gamepad internal name id
+RLAPI bool IsGamepadButtonPressed(int gamepad, int button);                        // Check if a gamepad button has been pressed once
+RLAPI bool IsGamepadButtonDown(int gamepad, int button);                           // Check if a gamepad button is being pressed
+RLAPI bool IsGamepadButtonReleased(int gamepad, int button);                       // Check if a gamepad button has been released once
+RLAPI bool IsGamepadButtonUp(int gamepad, int button);                             // Check if a gamepad button is NOT being pressed
+RLAPI int GetGamepadButtonPressed(void);                                           // Get the last gamepad button pressed
+RLAPI int GetGamepadAxisCount(int gamepad);                                        // Get gamepad axis count for a gamepad
+RLAPI float GetGamepadAxisMovement(int gamepad, int axis);                         // Get axis movement value for a gamepad axis
+RLAPI int SetGamepadMappings(const char *mappings);                                // Set internal gamepad mappings (SDL_GameControllerDB)
+RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
 
 // Input-related functions: mouse
 RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
@@ -1197,7 +1279,7 @@ RLAPI int GetTouchPointCount(void);                           // Get number of t
 RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
 RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
 RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
-RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in milliseconds
+RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in seconds
 RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
 RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
 RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
@@ -1216,19 +1298,21 @@ RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, f
 // NOTE: It can be useful when using basic shapes and one single font,
 // defining a font char white rectangle would allow drawing everything in a single draw call
 RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
+RLAPI Texture2D GetShapesTexture(void);                                 // Get texture that is used for shapes drawing
+RLAPI Rectangle GetShapesTextureRectangle(void);                        // Get texture source rectangle that is used for shapes drawing
 
 // Basic shapes drawing functions
-RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel
-RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel (Vector version)
+RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel using geometry [Can be slow, use with care]
+RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
 RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
 RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
 RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
-RLAPI void DrawLineStrip(Vector2 *points, int pointCount, Color color);                                  // Draw lines sequence (using gl lines)
+RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color);                            // Draw lines sequence (using gl lines)
 RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
 RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
 RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
 RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
-RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color color1, Color color2);       // Draw a gradient-filled circle
+RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer);         // Draw a gradient-filled circle
 RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
 RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
 RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
@@ -1240,27 +1324,28 @@ RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color)
 RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
 RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
 RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
-RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a vertical-gradient-filled rectangle
-RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a horizontal-gradient-filled rectangle
-RLAPI void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4);       // Draw a gradient-filled rectangle with custom vertex colors
+RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom);   // Draw a vertical-gradient-filled rectangle
+RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right);   // Draw a horizontal-gradient-filled rectangle
+RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
 RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
 RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
 RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
-RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
+RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color);         // Draw rectangle lines with rounded edges
+RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
 RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
 RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleFan(Vector2 *points, int pointCount, Color color);                                // Draw a triangle fan defined by points (first vertex is the center)
-RLAPI void DrawTriangleStrip(Vector2 *points, int pointCount, Color color);                              // Draw a triangle strip defined by points
+RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color);                          // Draw a triangle fan defined by points (first vertex is the center)
+RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color);                        // Draw a triangle strip defined by points
 RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
 RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
 RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
 
 // Splines drawing functions
-RLAPI void DrawSplineLinear(Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
-RLAPI void DrawSplineBasis(Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
-RLAPI void DrawSplineCatmullRom(Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
-RLAPI void DrawSplineBezierQuadratic(Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
-RLAPI void DrawSplineBezierCubic(Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
+RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
+RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
+RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
+RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
+RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
 RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
 RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
 RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
@@ -1278,12 +1363,13 @@ RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vect
 RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
 RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
 RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
+RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2);               // Check if circle collides with a line created betweeen two points [p1] and [p2]
 RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
 RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
 RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
-RLAPI bool CheckCollisionPointPoly(Vector2 point, Vector2 *points, int pointCount);                      // Check if point is within a polygon described by array of vertices
-RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
 RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
+RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount);                // Check if point is within a polygon described by array of vertices
+RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
 RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
 
 //------------------------------------------------------------------------------------
@@ -1294,12 +1380,12 @@ RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);
 // NOTE: These functions do not require GPU access
 RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
 RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
-RLAPI Image LoadImageSvg(const char *fileNameOrString, int width, int height);                           // Load image from SVG file data or string with specified size
 RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
+RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
 RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
 RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
 RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
-RLAPI bool IsImageReady(Image image);                                                                    // Check if an image is ready
+RLAPI bool IsImageValid(Image image);                                                                    // Check if an image is valid (data and parameters)
 RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
 RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
 RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
@@ -1319,6 +1405,7 @@ RLAPI Image GenImageText(int width, int height, const char *text);
 // Image manipulation functions
 RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
 RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
+RLAPI Image ImageFromChannel(Image image, int selectedChannel);                                          // Create an image from a selected channel of another image (GRAYSCALE)
 RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
 RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
 RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
@@ -1329,9 +1416,10 @@ RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);
 RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
 RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
 RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
+RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize);                    // Apply custom square convolution kernel to image
 RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
 RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
-RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill);  // Resize canvas and fill with color
+RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
 RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
 RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
 RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
@@ -1359,6 +1447,7 @@ RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);
 RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
 RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
 RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
+RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color);              // Draw a line defining thickness within an image
 RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
 RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
 RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
@@ -1367,6 +1456,11 @@ RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int hei
 RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
 RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
 RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
+RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);               // Draw triangle within an image
+RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
+RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);          // Draw triangle outline within an image
+RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color);               // Draw a triangle fan defined by points within an image (first vertex is the center)
+RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color);             // Draw a triangle strip defined by points within an image
 RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
 RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
 RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
@@ -1377,9 +1471,9 @@ RLAPI Texture2D LoadTexture(const char *fileName);
 RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
 RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
 RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
-RLAPI bool IsTextureReady(Texture2D texture);                                                            // Check if a texture is ready
+RLAPI bool IsTextureValid(Texture2D texture);                                                            // Check if a texture is valid (loaded in GPU)
 RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
-RLAPI bool IsRenderTextureReady(RenderTexture2D target);                                                 // Check if a render texture is ready
+RLAPI bool IsRenderTextureValid(RenderTexture2D target);                                                 // Check if a render texture is valid (loaded in GPU)
 RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
 RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
 RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
@@ -1398,8 +1492,9 @@ RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, V
 RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
 
 // Color/pixel related functions
+RLAPI bool ColorIsEqual(Color col1, Color col2);                            // Check if two colors are equal
 RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color
+RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color (0xRRGGBBAA)
 RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
 RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
 RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
@@ -1409,6 +1504,7 @@ RLAPI Color ColorBrightness(Color color, float factor);                     // G
 RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
 RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
 RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
+RLAPI Color ColorLerp(Color color1, Color color2, float factor);            // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
 RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
 RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
 RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
@@ -1421,10 +1517,10 @@ RLAPI int GetPixelDataSize(int width, int height, int format);              // G
 // Font loading/unloading functions
 RLAPI Font GetFontDefault(void);                                                            // Get the default Font
 RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
-RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount);  // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set
+RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
 RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
 RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
-RLAPI bool IsFontReady(Font font);                                                          // Check if a font is ready
+RLAPI bool IsFontValid(Font font);                                                          // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
 RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
 RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
 RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
@@ -1465,7 +1561,7 @@ RLAPI bool TextIsEqual(const char *text1, const char *text2);
 RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
 RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
 RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
-RLAPI char *TextReplace(char *text, const char *replace, const char *by);                   // Replace text string (WARNING: memory must be freed!)
+RLAPI char *TextReplace(const char *text, const char *replace, const char *by);             // Replace text string (WARNING: memory must be freed!)
 RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
 RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
 RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
@@ -1474,7 +1570,11 @@ RLAPI int TextFindIndex(const char *text, const char *find);
 RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
 RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
 RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
+RLAPI const char *TextToSnake(const char *text);                      // Get Snake case notation version of provided string
+RLAPI const char *TextToCamel(const char *text);                      // Get Camel case notation version of provided string
+
 RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
+RLAPI float TextToFloat(const char *text);                            // Get float value from text (negative values not supported)
 
 //------------------------------------------------------------------------------------
 // Basic 3d Shapes Drawing Functions (Module: models)
@@ -1485,7 +1585,7 @@ RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);
 RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
 RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
 RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleStrip3D(Vector3 *points, int pointCount, Color color);                            // Draw a triangle strip defined by points
+RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color);                      // Draw a triangle strip defined by points
 RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
 RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
 RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
@@ -1510,7 +1610,7 @@ RLAPI void DrawGrid(int slices, float spacing);
 // Model management functions
 RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
 RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
-RLAPI bool IsModelReady(Model model);                                                       // Check if a model is ready
+RLAPI bool IsModelValid(Model model);                                                       // Check if a model is valid (loaded in GPU, VAO/VBOs)
 RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
 RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
 
@@ -1519,8 +1619,10 @@ RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);
 RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
 RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
 RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
+RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
+RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
 RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
-RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float size, Color tint);   // Draw a billboard texture
+RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint);   // Draw a billboard texture
 RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
 RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
 
@@ -1530,9 +1632,10 @@ RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize
 RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
 RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
 RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
-RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
 RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
 RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
+RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
+RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName);                               // Export mesh as code file (.h) defining multiple arrays of vertex attributes
 
 // Mesh generation functions
 RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
@@ -1550,14 +1653,15 @@ RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);
 // Material loading/unloading functions
 RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
 RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
-RLAPI bool IsMaterialReady(Material material);                                              // Check if a material is ready
+RLAPI bool IsMaterialValid(Material material);                                              // Check if a material is valid (shader assigned, map textures loaded in GPU)
 RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
 RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
 RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
 
 // Model animations loading/unloading functions
 RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
-RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose
+RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose (CPU)
+RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame);          // Update model animation mesh bone matrices (GPU skinning)
 RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
 RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
 RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
@@ -1587,11 +1691,11 @@ RLAPI float GetMasterVolume(void);                                    // Get mas
 // Wave/Sound loading/unloading functions
 RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
 RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
-RLAPI bool IsWaveReady(Wave wave);                                    // Checks if wave data is ready
+RLAPI bool IsWaveValid(Wave wave);                                    // Checks if wave data is valid (data loaded and parameters)
 RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
 RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
 RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
-RLAPI bool IsSoundReady(Sound sound);                                 // Checks if a sound is ready
+RLAPI bool IsSoundValid(Sound sound);                                 // Checks if a sound is valid (data loaded and buffers initialized)
 RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
 RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
 RLAPI void UnloadSound(Sound sound);                                  // Unload sound
@@ -1609,7 +1713,7 @@ RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set vol
 RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
 RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
 RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
-RLAPI void WaveCrop(Wave *wave, int initSample, int finalSample);     // Crop a wave to defined samples range
+RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame);       // Crop a wave to defined frames range
 RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
 RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
 RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
@@ -1617,7 +1721,7 @@ RLAPI void UnloadWaveSamples(float *samples);                         // Unload
 // Music management functions
 RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
 RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
-RLAPI bool IsMusicReady(Music music);                                 // Checks if a music stream is ready
+RLAPI bool IsMusicValid(Music music);                                 // Checks if a music stream is valid (context and buffers initialized)
 RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
 RLAPI void PlayMusicStream(Music music);                              // Start music playing
 RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
@@ -1634,7 +1738,7 @@ RLAPI float GetMusicTimePlayed(Music music);                          // Get cur
 
 // AudioStream management functions
 RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
-RLAPI bool IsAudioStreamReady(AudioStream stream);                    // Checks if an audio stream is ready
+RLAPI bool IsAudioStreamValid(AudioStream stream);                    // Checks if an audio stream is valid (buffers initialized)
 RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
 RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
 RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
@@ -1649,10 +1753,10 @@ RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan
 RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
 RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
 
-RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as <float>s
+RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
 RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
 
-RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as <float>s
+RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
 RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
 
 #if defined(__cplusplus)

third_party/raylib/include/raymath.h

@@ -1,6 +1,6 @@
 /**********************************************************************************************
 *
-*   raymath v1.5 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
+*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
 *
 *   CONVENTIONS:
 *     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
@@ -12,7 +12,7 @@
 *     - Functions are always self-contained, no function use another raymath function inside,
 *       required code is directly re-implemented inside
 *     - Functions input parameters are always received by value (2 unavoidable exceptions)
-*     - Functions use always a "result" variable for return
+*     - Functions use always a "result" variable for return (except C++ operators)
 *     - Functions are always defined inline
 *     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
 *     - No compound literals used to make sure libray is compatible with C++
@@ -27,10 +27,12 @@
 *           Define static inline functions code, so #include header suffices for use.
 *           This may use up lots of memory.
 *
+*       #define RAYMATH_DISABLE_CPP_OPERATORS
+*           Disables C++ operator overloads for raymath types.
 *
 *   LICENSE: zlib/libpng
 *
-*   Copyright (c) 2015-2023 Ramon Santamaria (@raysan5)
+*   Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
 *
 *   This software is provided "as-is", without any express or implied warranty. In no event
 *   will the authors be held liable for any damages arising from the use of this software.
@@ -59,7 +61,9 @@
 // Function specifiers definition
 #if defined(RAYMATH_IMPLEMENTATION)
     #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
+        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
+    #elif defined(BUILD_LIBTYPE_SHARED)
+        #define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
     #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
         #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
     #else
@@ -75,6 +79,7 @@
     #endif
 #endif
 
+
 //----------------------------------------------------------------------------------
 // Defines and Macros
 //----------------------------------------------------------------------------------
@@ -163,7 +168,7 @@ typedef struct float16 {
     float v[16];
 } float16;
 
-#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabs()
+#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
 
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Utils math
@@ -299,6 +304,14 @@ RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
     return result;
 }
 
+// Calculate two vectors cross product
+RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
+{
+    float result = (v1.x*v2.y - v1.y*v2.x);
+
+    return result;
+}
+
 // Calculate distance between two vectors
 RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
 {
@@ -429,6 +442,28 @@ RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
     return result;
 }
 
+// Get min value for each pair of components
+RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { 0 };
+
+    result.x = fminf(v1.x, v2.x);
+    result.y = fminf(v1.y, v2.y);
+
+    return result;
+}
+
+// Get max value for each pair of components
+RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
+{
+    Vector2 result = { 0 };
+
+    result.x = fmaxf(v1.x, v2.x);
+    result.y = fmaxf(v1.y, v2.y);
+
+    return result;
+}
+
 // Rotate vector by angle
 RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
 {
@@ -492,18 +527,18 @@ RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
     {
         length = sqrtf(length);
 
+        float scale = 1;    // By default, 1 as the neutral element.
         if (length < min)
         {
-            float scale = min/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
+            scale = min/length;
         }
         else if (length > max)
         {
-            float scale = max/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
+            scale = max/length;
         }
+
+        result.x = v.x*scale;
+        result.y = v.y*scale;
     }
 
     return result;
@@ -522,6 +557,31 @@ RMAPI int Vector2Equals(Vector2 p, Vector2 q)
     return result;
 }
 
+// Compute the direction of a refracted ray
+// v: normalized direction of the incoming ray
+// n: normalized normal vector of the interface of two optical media
+// r: ratio of the refractive index of the medium from where the ray comes
+//    to the refractive index of the medium on the other side of the surface
+RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
+{
+    Vector2 result = { 0 };
+
+    float dot = v.x*n.x + v.y*n.y;
+    float d = 1.0f - r*r*(1.0f - dot*dot);
+
+    if (d >= 0.0f)
+    {
+        d = sqrtf(d);
+        v.x = r*v.x - (r*dot + d)*n.x;
+        v.y = r*v.y - (r*dot + d)*n.y;
+
+        result = v;
+    }
+
+    return result;
+}
+
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Vector3 math
 //----------------------------------------------------------------------------------
@@ -603,12 +663,12 @@ RMAPI Vector3 Vector3Perpendicular(Vector3 v)
 {
     Vector3 result = { 0 };
 
-    float min = (float) fabs(v.x);
+    float min = fabsf(v.x);
     Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
 
     if (fabsf(v.y) < min)
     {
-        min = (float) fabs(v.y);
+        min = fabsf(v.y);
         Vector3 tmp = {0.0f, 1.0f, 0.0f};
         cardinalAxis = tmp;
     }
@@ -728,7 +788,7 @@ RMAPI Vector3 Vector3Normalize(Vector3 v)
 RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
 {
     Vector3 result = { 0 };
-    
+
     float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
     float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
 
@@ -745,7 +805,7 @@ RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
 RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
 {
     Vector3 result = { 0 };
-    
+
     float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
     float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
 
@@ -832,7 +892,7 @@ RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
     // Vector3Normalize(axis);
     float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
     if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f / length;
+    float ilength = 1.0f/length;
     axis.x *= ilength;
     axis.y *= ilength;
     axis.z *= ilength;
@@ -873,6 +933,27 @@ RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
     return result;
 }
 
+// Move Vector towards target
+RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
+{
+    Vector3 result = { 0 };
+
+    float dx = target.x - v.x;
+    float dy = target.y - v.y;
+    float dz = target.z - v.z;
+    float value = (dx*dx) + (dy*dy) + (dz*dz);
+
+    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+
+    float dist = sqrtf(value);
+
+    result.x = v.x + dx/dist*maxDistance;
+    result.y = v.y + dy/dist*maxDistance;
+    result.z = v.z + dz/dist*maxDistance;
+
+    return result;
+}
+
 // Calculate linear interpolation between two vectors
 RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
 {
@@ -885,6 +966,22 @@ RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
     return result;
 }
 
+// Calculate cubic hermite interpolation between two vectors and their tangents
+// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
+RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
+{
+    Vector3 result = { 0 };
+
+    float amountPow2 = amount*amount;
+    float amountPow3 = amount*amount*amount;
+
+    result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
+    result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
+    result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
+
+    return result;
+}
+
 // Calculate reflected vector to normal
 RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
 {
@@ -1078,20 +1175,19 @@ RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
     {
         length = sqrtf(length);
 
+        float scale = 1;    // By default, 1 as the neutral element.
         if (length < min)
         {
-            float scale = min/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
-            result.z = v.z*scale;
+            scale = min/length;
         }
         else if (length > max)
         {
-            float scale = max/length;
-            result.x = v.x*scale;
-            result.y = v.y*scale;
-            result.z = v.z*scale;
+            scale = max/length;
         }
+
+        result.x = v.x*scale;
+        result.y = v.y*scale;
+        result.z = v.z*scale;
     }
 
     return result;
@@ -1136,6 +1232,233 @@ RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
     return result;
 }
 
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector4 math
+//----------------------------------------------------------------------------------
+
+RMAPI Vector4 Vector4Zero(void)
+{
+    Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
+    return result;
+}
+
+RMAPI Vector4 Vector4One(void)
+{
+    Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
+    return result;
+}
+
+RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = {
+        v1.x + v2.x,
+        v1.y + v2.y,
+        v1.z + v2.z,
+        v1.w + v2.w
+    };
+    return result;
+}
+
+RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
+{
+    Vector4 result = {
+        v.x + add,
+        v.y + add,
+        v.z + add,
+        v.w + add
+    };
+    return result;
+}
+
+RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = {
+        v1.x - v2.x,
+        v1.y - v2.y,
+        v1.z - v2.z,
+        v1.w - v2.w
+    };
+    return result;
+}
+
+RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
+{
+    Vector4 result = {
+        v.x - add,
+        v.y - add,
+        v.z - add,
+        v.w - add
+    };
+    return result;
+}
+
+RMAPI float Vector4Length(Vector4 v)
+{
+    float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
+    return result;
+}
+
+RMAPI float Vector4LengthSqr(Vector4 v)
+{
+    float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
+    return result;
+}
+
+RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
+{
+    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
+    return result;
+}
+
+// Calculate distance between two vectors
+RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
+{
+    float result = sqrtf(
+        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
+        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
+    return result;
+}
+
+// Calculate square distance between two vectors
+RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
+{
+    float result =
+        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
+        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
+
+    return result;
+}
+
+RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
+{
+    Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
+    return result;
+}
+
+// Multiply vector by vector
+RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
+    return result;
+}
+
+// Negate vector
+RMAPI Vector4 Vector4Negate(Vector4 v)
+{
+    Vector4 result = { -v.x, -v.y, -v.z, -v.w };
+    return result;
+}
+
+// Divide vector by vector
+RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
+    return result;
+}
+
+// Normalize provided vector
+RMAPI Vector4 Vector4Normalize(Vector4 v)
+{
+    Vector4 result = { 0 };
+    float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
+
+    if (length > 0)
+    {
+        float ilength = 1.0f/length;
+        result.x = v.x*ilength;
+        result.y = v.y*ilength;
+        result.z = v.z*ilength;
+        result.w = v.w*ilength;
+    }
+
+    return result;
+}
+
+// Get min value for each pair of components
+RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { 0 };
+
+    result.x = fminf(v1.x, v2.x);
+    result.y = fminf(v1.y, v2.y);
+    result.z = fminf(v1.z, v2.z);
+    result.w = fminf(v1.w, v2.w);
+
+    return result;
+}
+
+// Get max value for each pair of components
+RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
+{
+    Vector4 result = { 0 };
+
+    result.x = fmaxf(v1.x, v2.x);
+    result.y = fmaxf(v1.y, v2.y);
+    result.z = fmaxf(v1.z, v2.z);
+    result.w = fmaxf(v1.w, v2.w);
+
+    return result;
+}
+
+// Calculate linear interpolation between two vectors
+RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
+{
+    Vector4 result = { 0 };
+
+    result.x = v1.x + amount*(v2.x - v1.x);
+    result.y = v1.y + amount*(v2.y - v1.y);
+    result.z = v1.z + amount*(v2.z - v1.z);
+    result.w = v1.w + amount*(v2.w - v1.w);
+
+    return result;
+}
+
+// Move Vector towards target
+RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
+{
+    Vector4 result = { 0 };
+
+    float dx = target.x - v.x;
+    float dy = target.y - v.y;
+    float dz = target.z - v.z;
+    float dw = target.w - v.w;
+    float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
+
+    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+
+    float dist = sqrtf(value);
+
+    result.x = v.x + dx/dist*maxDistance;
+    result.y = v.y + dy/dist*maxDistance;
+    result.z = v.z + dz/dist*maxDistance;
+    result.w = v.w + dw/dist*maxDistance;
+
+    return result;
+}
+
+// Invert the given vector
+RMAPI Vector4 Vector4Invert(Vector4 v)
+{
+    Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
+    return result;
+}
+
+// Check whether two given vectors are almost equal
+RMAPI int Vector4Equals(Vector4 p, Vector4 q)
+{
+#if !defined(EPSILON)
+    #define EPSILON 0.000001f
+#endif
+
+    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
+    return result;
+}
+
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Matrix math
 //----------------------------------------------------------------------------------
@@ -1524,32 +1847,32 @@ RMAPI Matrix MatrixScale(float x, float y, float z)
 }
 
 // Get perspective projection matrix
-RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
+RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
 {
     Matrix result = { 0 };
 
     float rl = (float)(right - left);
     float tb = (float)(top - bottom);
-    float fn = (float)(far - near);
+    float fn = (float)(farPlane - nearPlane);
 
-    result.m0 = ((float)near*2.0f)/rl;
+    result.m0 = ((float)nearPlane*2.0f)/rl;
     result.m1 = 0.0f;
     result.m2 = 0.0f;
     result.m3 = 0.0f;
 
     result.m4 = 0.0f;
-    result.m5 = ((float)near*2.0f)/tb;
+    result.m5 = ((float)nearPlane*2.0f)/tb;
     result.m6 = 0.0f;
     result.m7 = 0.0f;
 
     result.m8 = ((float)right + (float)left)/rl;
     result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)far + (float)near)/fn;
+    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
     result.m11 = -1.0f;
 
     result.m12 = 0.0f;
     result.m13 = 0.0f;
-    result.m14 = -((float)far*(float)near*2.0f)/fn;
+    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
     result.m15 = 0.0f;
 
     return result;
@@ -1901,6 +2224,32 @@ RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
     return result;
 }
 
+// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
+// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
+RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
+{
+    float t2 = t*t;
+    float t3 = t2*t;
+    float h00 = 2*t3 - 3*t2 + 1;
+    float h10 = t3 - 2*t2 + t;
+    float h01 = -2*t3 + 3*t2;
+    float h11 = t3 - t2;
+
+    Quaternion p0 = QuaternionScale(q1, h00);
+    Quaternion m0 = QuaternionScale(outTangent1, h10);
+    Quaternion p1 = QuaternionScale(q2, h01);
+    Quaternion m1 = QuaternionScale(inTangent2, h11);
+
+    Quaternion result = { 0 };
+
+    result = QuaternionAdd(p0, m0);
+    result = QuaternionAdd(result, p1);
+    result = QuaternionAdd(result, m1);
+    result = QuaternionNormalize(result);
+
+    return result;
+}
+
 // Calculate quaternion based on the rotation from one vector to another
 RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
 {
@@ -1960,7 +2309,7 @@ RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
     }
 
     float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
-    float mult = 0.25f / biggestVal;
+    float mult = 0.25f/biggestVal;
 
     switch (biggestIndex)
     {
@@ -2042,8 +2391,7 @@ RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
         float ilength = 0.0f;
 
         // Vector3Normalize(axis)
-        Vector3 v = axis;
-        length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+        length = axisLength;
         if (length == 0.0f) length = 1.0f;
         ilength = 1.0f/length;
         axis.x *= ilength;
@@ -2187,4 +2535,415 @@ RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
     return result;
 }
 
+// Decompose a transformation matrix into its rotational, translational and scaling components
+RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
+{
+    // Extract translation.
+    translation->x = mat.m12;
+    translation->y = mat.m13;
+    translation->z = mat.m14;
+
+    // Extract upper-left for determinant computation
+    const float a = mat.m0;
+    const float b = mat.m4;
+    const float c = mat.m8;
+    const float d = mat.m1;
+    const float e = mat.m5;
+    const float f = mat.m9;
+    const float g = mat.m2;
+    const float h = mat.m6;
+    const float i = mat.m10;
+    const float A = e*i - f*h;
+    const float B = f*g - d*i;
+    const float C = d*h - e*g;
+
+    // Extract scale
+    const float det = a*A + b*B + c*C;
+    Vector3 abc = { a, b, c };
+    Vector3 def = { d, e, f };
+    Vector3 ghi = { g, h, i };
+
+    float scalex = Vector3Length(abc);
+    float scaley = Vector3Length(def);
+    float scalez = Vector3Length(ghi);
+    Vector3 s = { scalex, scaley, scalez };
+
+    if (det < 0) s = Vector3Negate(s);
+
+    *scale = s;
+
+    // Remove scale from the matrix if it is not close to zero
+    Matrix clone = mat;
+    if (!FloatEquals(det, 0))
+    {
+        clone.m0 /= s.x;
+        clone.m4 /= s.x;
+        clone.m8 /= s.x;
+        clone.m1 /= s.y;
+        clone.m5 /= s.y;
+        clone.m9 /= s.y;
+        clone.m2 /= s.z;
+        clone.m6 /= s.z;
+        clone.m10 /= s.z;
+
+        // Extract rotation
+        *rotation = QuaternionFromMatrix(clone);
+    }
+    else
+    {
+        // Set to identity if close to zero
+        *rotation = QuaternionIdentity();
+    }
+}
+
+#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
+
+// Optional C++ math operators
+//-------------------------------------------------------------------------------
+
+// Vector2 operators
+static constexpr Vector2 Vector2Zeros = { 0, 0 };
+static constexpr Vector2 Vector2Ones = { 1, 1 };
+static constexpr Vector2 Vector2UnitX = { 1, 0 };
+static constexpr Vector2 Vector2UnitY = { 0, 1 };
+
+inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Add(lhs, rhs);
+}
+
+inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Add(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Subtract(lhs, rhs);
+}
+
+inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Subtract(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator * (const Vector2& lhs, const float& rhs)
+{
+    return Vector2Scale(lhs, rhs);
+}
+
+inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
+{
+    lhs = Vector2Scale(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Multiply(lhs, rhs);
+}
+
+inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Multiply(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
+{
+    return Vector2Transform(lhs, rhs);
+}
+
+inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
+{
+    lhs = Vector2Transform(lhs, rhs);
+    return lhs;
+}
+
+inline Vector2 operator / (const Vector2& lhs, const float& rhs)
+{
+    return Vector2Scale(lhs, 1.0f / rhs);
+}
+
+inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
+{
+    lhs = Vector2Scale(lhs, 1.0f / rhs);
+    return lhs;
+}
+
+inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
+{
+    return Vector2Divide(lhs, rhs);
+}
+
+inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
+{
+    lhs = Vector2Divide(lhs, rhs);
+    return lhs;
+}
+
+inline bool operator == (const Vector2& lhs, const Vector2& rhs)
+{
+    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
+}
+
+inline bool operator != (const Vector2& lhs, const Vector2& rhs)
+{
+    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
+}
+
+// Vector3 operators
+static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
+static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
+static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
+static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
+static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
+
+inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Add(lhs, rhs);
+}
+
+inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Add(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Subtract(lhs, rhs);
+}
+
+inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Subtract(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator * (const Vector3& lhs, const float& rhs)
+{
+    return Vector3Scale(lhs, rhs);
+}
+
+inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
+{
+    lhs = Vector3Scale(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Multiply(lhs, rhs);
+}
+
+inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Multiply(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
+{
+    return Vector3Transform(lhs, rhs);
+}
+
+inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
+{
+    lhs = Vector3Transform(lhs, rhs);
+    return lhs;
+}
+
+inline Vector3 operator / (const Vector3& lhs, const float& rhs)
+{
+    return Vector3Scale(lhs, 1.0f / rhs);
+}
+
+inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
+{
+    lhs = Vector3Scale(lhs, 1.0f / rhs);
+    return lhs;
+}
+
+inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
+{
+    return Vector3Divide(lhs, rhs);
+}
+
+inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
+{
+    lhs = Vector3Divide(lhs, rhs);
+    return lhs;
+}
+
+inline bool operator == (const Vector3& lhs, const Vector3& rhs)
+{
+    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
+}
+
+inline bool operator != (const Vector3& lhs, const Vector3& rhs)
+{
+    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
+}
+
+// Vector4 operators
+static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
+static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
+static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
+static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
+static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
+static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
+
+inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Add(lhs, rhs);
+}
+
+inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Add(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Subtract(lhs, rhs);
+}
+
+inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Subtract(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator * (const Vector4& lhs, const float& rhs)
+{
+    return Vector4Scale(lhs, rhs);
+}
+
+inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
+{
+    lhs = Vector4Scale(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Multiply(lhs, rhs);
+}
+
+inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Multiply(lhs, rhs);
+    return lhs;
+}
+
+inline Vector4 operator / (const Vector4& lhs, const float& rhs)
+{
+    return Vector4Scale(lhs, 1.0f / rhs);
+}
+
+inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
+{
+    lhs = Vector4Scale(lhs, 1.0f / rhs);
+    return lhs;
+}
+
+inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
+{
+    return Vector4Divide(lhs, rhs);
+}
+
+inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
+{
+    lhs = Vector4Divide(lhs, rhs);
+    return lhs;
+}
+
+inline bool operator == (const Vector4& lhs, const Vector4& rhs)
+{
+    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
+}
+
+inline bool operator != (const Vector4& lhs, const Vector4& rhs)
+{
+    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
+}
+
+// Quaternion operators
+static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
+static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
+static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
+
+inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
+{
+    return QuaternionAddValue(lhs, rhs);
+}
+
+inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
+{
+    lhs = QuaternionAddValue(lhs, rhs);
+    return lhs;
+}
+
+inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
+{
+    return QuaternionSubtractValue(lhs, rhs);
+}
+
+inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
+{
+    lhs = QuaternionSubtractValue(lhs, rhs);
+    return lhs;
+}
+
+inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
+{
+    return QuaternionTransform(lhs, rhs);
+}
+
+inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
+{
+    lhs = QuaternionTransform(lhs, rhs);
+    return lhs;
+}
+
+// Matrix operators
+inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
+{
+    return MatrixAdd(lhs, rhs);
+}
+
+inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
+{
+    lhs = MatrixAdd(lhs, rhs);
+    return lhs;
+}
+
+inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
+{
+    return MatrixSubtract(lhs, rhs);
+}
+
+inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
+{
+    lhs = MatrixSubtract(lhs, rhs);
+    return lhs;
+}
+
+inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
+{
+    return MatrixMultiply(lhs, rhs);
+}
+
+inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
+{
+    lhs = MatrixMultiply(lhs, rhs);
+    return lhs;
+}
+//-------------------------------------------------------------------------------
+#endif  // C++ operators
+
 #endif  // RAYMATH_H

third_party/raylib/setup.sh

@@ -4,33 +4,38 @@ set -e
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR
 
+RAYLIB_PLATFORM="PLATFORM_DESKTOP"
+
 ARCHNAME=$(uname -m)
 if [ -f /TICI ]; then
   ARCHNAME="larch64"
+  RAYLIB_PLATFORM="PLATFORM_COMMA"
 fi
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
   ARCHNAME="Darwin"
 fi
 
-if [ ! -d raylib_repo ]; then
-  git clone https://github.com/raysan5/raylib.git raylib_repo
-fi
-
-cd raylib_repo
-git fetch --tags origin 5.0
-git checkout 5.0
-
-git clean -xdff .
-mkdir build
-cd build
-cmake ..
-make -j$(nproc)
-
 INSTALL_DIR="$DIR/$ARCHNAME"
 rm -rf $INSTALL_DIR
 mkdir -p $INSTALL_DIR
 
-rm -rf $DIR/include
-cp $DIR/raylib_repo/build/raylib/libraylib.a $INSTALL_DIR/
-cp -r $DIR/raylib_repo/build/raylib/include $DIR
+INSTALL_H_DIR="$DIR/include"
+rm -rf $INSTALL_H_DIR
+mkdir -p $INSTALL_H_DIR
+
+if [ ! -d raylib_repo ]; then
+  git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
+fi
+
+cd raylib_repo
+
+COMMIT="f5b0a7237c6e45f0e8a6ff68322d19b49298d798"
+git fetch origin $COMMIT
+git reset --hard $COMMIT
+git clean -xdff .
+
+cd src
+
+make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM
+sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR

tools/README.md

@@ -4,9 +4,9 @@
 
 openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
-Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
+Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.
 
-## Native setup on Ubuntu 24.04
+## Native setup on Ubuntu 24.04 and macOS
 
 **1. Clone openpilot**
 
@@ -24,11 +24,18 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 **2. Run the setup script**
 
+Ubuntu 24.04:
 ``` bash
 cd openpilot
 tools/ubuntu_setup.sh
 ```
 
+macOS:
+``` bash
+cd openpilot
+tools/mac_setup.sh
+```
+
 **3. Git LFS**
 
 ``` bash
@@ -48,16 +55,6 @@ source .venv/bin/activate
 scons -u -j$(nproc)
 ```
 
-## Dev Container on any Linux or macOS
-
-openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
-
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
-
-#### X11 forwarding on macOS
-
-GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
-
 ## WSL on Windows
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.

tools/cabana/mainwin.cc

@@ -558,7 +558,9 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   if (can && !can->liveStreaming()) {
     settings.video_splitter_state = video_splitter->saveState();
   }
-  settings.message_header_state = messages_widget->saveHeaderState();
+  if (messages_widget) {
+    settings.message_header_state = messages_widget->saveHeaderState();
+  }
 
   QWidget::closeEvent(event);
 }

tools/cabana/messageswidget.cc

@@ -201,7 +201,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     }
   };
 
-  const static QString NA =  QStringLiteral("N/A");
+  const static QString NA = QStringLiteral("N/A");
   const auto &item = items_[index.row()];
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
@@ -217,8 +217,6 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors));
   } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
     return QVariant::fromValue((void*)(&can->lastMessage(item.id).dat));
-  } else if (role == Qt::ForegroundRole && !isMessageActive(item.id)) {
-    return QApplication::palette().color(QPalette::Disabled, QPalette::Text);
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
@@ -379,7 +377,17 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
 // MessageView
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  QTreeView::drawRow(painter, option, index);
+   const auto &item = ((MessageListModel*)model())->items_[index.row()];
+  if (!isMessageActive(item.id)) {
+    QStyleOptionViewItem custom_option = option;
+    custom_option.palette.setBrush(QPalette::Text, custom_option.palette.color(QPalette::Disabled, QPalette::Text));
+    auto color = QApplication::palette().color(QPalette::HighlightedText);
+    color.setAlpha(100);
+    custom_option.palette.setBrush(QPalette::HighlightedText, color);
+    QTreeView::drawRow(painter, custom_option, index);
+  } else {
+    QTreeView::drawRow(painter, option, index);
+  }
 
   QPen oldPen = painter->pen();
   const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);

tools/cabana/streams/abstractstream.cc

@@ -1,5 +1,6 @@
 #include "tools/cabana/streams/abstractstream.h"
 
+#include <limits>
 #include <utility>
 
 #include <QApplication>
@@ -228,11 +229,10 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
   auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
 
   int count = std::distance(first, last);
-  if (count > 1) {
-    double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
-    return count / duration;
-  }
-  return 0;
+  if (count <= 1) return 0.0;
+
+  double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
+  return duration > std::numeric_limits<double>::epsilon() ? (count - 1) / duration : 0.0;
 }
 
 }  // namespace

tools/cabana/streams/routes.cc

@@ -9,7 +9,19 @@
 #include <QMessageBox>
 #include <QPainter>
 
-#include "system/hardware/hw.h"
+class OneShotHttpRequest : public HttpRequest {
+public:
+  OneShotHttpRequest(QObject *parent) : HttpRequest(parent, false) {}
+  void send(const QString &url) {
+    if (reply) {
+      reply->disconnect();
+      reply->abort();
+      reply->deleteLater();
+      reply = nullptr;
+    }
+    sendRequest(url);
+  }
+};
 
 // The RouteListWidget class extends QListWidget to display a custom message when empty
 class RouteListWidget : public QListWidget {
@@ -29,12 +41,12 @@ public:
   QString empty_text_ = tr("No items");
 };
 
-RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(new OneShotHttpRequest(this)) {
   setWindowTitle(tr("Remote routes"));
 
   QFormLayout *layout = new QFormLayout(this);
   layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
-  layout->addRow(tr("Duration"), period_selector_ = new QComboBox(this));
+  layout->addRow(period_selector_ = new QComboBox(this));
   layout->addRow(route_list_ = new RouteListWidget(this));
   auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   layout->addRow(button_box);
@@ -45,8 +57,10 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   period_selector_->addItem(tr("Last 2 weeks"), 14);
   period_selector_->addItem(tr("Last month"), 30);
   period_selector_->addItem(tr("Last 6 months"), 180);
+  period_selector_->addItem(tr("Preserved"), -1);
 
   // Connect signals and slots
+  QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
   connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
@@ -54,7 +68,7 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
 
   // Send request to fetch devices
-  HttpRequest *http = new HttpRequest(this, !Hardware::PC());
+  HttpRequest *http = new HttpRequest(this, false);
   QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
   http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
 }
@@ -81,43 +95,44 @@ void RoutesDialog::fetchRoutes() {
 
   route_list_->clear();
   route_list_->setEmptyText(tr("Loading..."));
-
-  HttpRequest *http = new HttpRequest(this, !Hardware::PC());
-  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
-
   // Construct URL with selected device and date range
-  auto dongle_id = device_list_->currentData().toString();
-  QDateTime current = QDateTime::currentDateTime();
-  QString url = QString("%1/v1/devices/%2/routes_segments?start=%3&end=%4")
-                    .arg(CommaApi::BASE_URL).arg(dongle_id)
-                    .arg(current.addDays(-(period_selector_->currentData().toInt())).toMSecsSinceEpoch())
-                    .arg(current.toMSecsSinceEpoch());
-  http->sendRequest(url);
+  QString url = QString("%1/v1/devices/%2").arg(CommaApi::BASE_URL, device_list_->currentText());
+  int period = period_selector_->currentData().toInt();
+  if (period == -1) {
+    url += "/routes/preserved";
+  } else {
+    QDateTime now = QDateTime::currentDateTime();
+    url += QString("/routes_segments?start=%1&end=%2")
+               .arg(now.addDays(-period).toMSecsSinceEpoch())
+               .arg(now.toMSecsSinceEpoch());
+  }
+  route_requester_->send(url);
 }
 
 void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
   if (success) {
     for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
-      uint64_t start_time = route["start_time_utc_millis"].toDouble();
-      uint64_t end_time = route["end_time_utc_millis"].toDouble();
-      auto datetime = QDateTime::fromMSecsSinceEpoch(start_time);
-      auto item = new QListWidgetItem(QString("%1    %2min").arg(datetime.toString()).arg((end_time - start_time) / (1000 * 60)));
+      QDateTime from, to;
+      if (period_selector_->currentData().toInt() == -1) {
+        from = QDateTime::fromString(route["start_time"].toString(), Qt::ISODateWithMs);
+        to = QDateTime::fromString(route["end_time"].toString(), Qt::ISODateWithMs);
+      } else {
+        from = QDateTime::fromMSecsSinceEpoch(route["start_time_utc_millis"].toDouble());
+        to = QDateTime::fromMSecsSinceEpoch(route["end_time_utc_millis"].toDouble());
+      }
+      auto item = new QListWidgetItem(QString("%1    %2min").arg(from.toString()).arg(from.secsTo(to) / 60));
       item->setData(Qt::UserRole, route["fullname"].toString());
       route_list_->addItem(item);
     }
-    // Select first route if available
     if (route_list_->count() > 0) route_list_->setCurrentRow(0);
   } else {
     QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
     reject();
   }
   route_list_->setEmptyText(tr("No items"));
-  sender()->deleteLater();
 }
 
-void RoutesDialog::accept() {
-  if (auto current_item = route_list_->currentItem()) {
-    route_ = current_item->data(Qt::UserRole).toString();
-  }
-  QDialog::accept();
+QString RoutesDialog::route() {
+  auto current_item = route_list_->currentItem();
+  return current_item ? current_item->data(Qt::UserRole).toString() : "";
 }

tools/cabana/streams/routes.h

@@ -6,15 +6,15 @@
 #include "selfdrive/ui/qt/api.h"
 
 class RouteListWidget;
+class OneShotHttpRequest;
 
 class RoutesDialog : public QDialog {
   Q_OBJECT
 public:
   RoutesDialog(QWidget *parent);
-  QString route() const { return route_; }
+  QString route();
 
 protected:
-  void accept() override;
   void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
   void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
   void fetchRoutes();
@@ -22,5 +22,5 @@ protected:
   QComboBox *device_list_;
   QComboBox *period_selector_;
   RouteListWidget *route_list_;
-  QString route_;
+  OneShotHttpRequest *route_requester_;
 };

tools/camerastream/compressed_vipc.py

@@ -101,9 +101,9 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
       pc_latency = (time.monotonic()-time_q[0])*1000
       time_q = time_q[1:]
       if debug:
-        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
-              % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
-                 process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+        print(f"{len(msgs):2d} {evta.idx.encodeId:4d} {evt.logMonoTime/1e9:.3f} {evta.idx.timestampEof/1e6:.3f} \
+            roll {frame_latency:6.2f} ms latency {process_latency:6.2f} ms + {network_latency:6.2f} ms + {pc_latency:6.2f} ms \
+            = {process_latency+network_latency+pc_latency:6.2f} ms", len(evta.data), sock_name)
 
 
 class CompressedVipc:

tools/install_ubuntu_dependencies.sh

@@ -101,7 +101,7 @@ if [ -f "/etc/os-release" ]; then
       install_ubuntu_focal_requirements
       ;;
     *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
+      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
       read -p "Would you like to attempt installation anyway? " -n 1 -r
       echo ""
       if [[ ! $REPLY =~ ^[Yy]$ ]]; then

tools/latencylogger/latency_logger.py

@@ -168,9 +168,9 @@ def print_timestamps(timestamps, durations, start_times, relative):
       print("  "+service)
       events = timestamps[frame_id][service]
       for event, time in sorted(events, key = lambda x: x[1]):
-        print("    "+'%-53s%-53s' %(event, str((time-t0)/1e6)))
+        print("    "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
       for event, time in durations[frame_id][service]:
-        print("    "+'%-53s%-53s' %(event, str(time*1000)))
+        print("    "+f'{event:<53s}{str(time*1000):<53s}')
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
   plt.rcParams.update({'font.size': 18})

tools/lib/api.py

@@ -10,16 +10,16 @@ class CommaApi:
       self.session.headers['Authorization'] = 'JWT ' + token
 
   def request(self, method, endpoint, **kwargs):
-    resp = self.session.request(method, API_HOST + '/' + endpoint, **kwargs)
-    resp_json = resp.json()
-    if isinstance(resp_json, dict) and resp_json.get('error'):
-      if resp.status_code in [401, 403]:
-        raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+    with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
+      resp_json = resp.json()
+      if isinstance(resp_json, dict) and resp_json.get('error'):
+        if resp.status_code in [401, 403]:
+          raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
 
-      e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
-      e.status_code = resp.status_code
-      raise e
-    return resp_json
+        e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
+        e.status_code = resp.status_code
+        raise e
+      return resp_json
 
   def get(self, endpoint, **kwargs):
     return self.request('GET', endpoint, **kwargs)

tools/lib/url_file.py

@@ -82,7 +82,7 @@ class URLFile:
 
     self._length = self.get_length_online()
     if not self._force_download and self._length != -1:
-      with atomic_write_in_dir(file_length_path, mode="w") as file_length:
+      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
         file_length.write(str(self._length))
     return self._length
 
@@ -105,7 +105,7 @@ class URLFile:
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
         data = self.read_aux(ll=CHUNK_SIZE)
-        with atomic_write_in_dir(full_path, mode="wb") as new_cached_file:
+        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
       else:
         with open(full_path, "rb") as cached_file:

tools/op.sh

@@ -94,7 +94,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
     echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
@@ -312,6 +312,30 @@ function op_sim() {
   op_run_command exec tools/sim/launch_openpilot.sh
 }
 
+function op_switch() {
+  op_before_cmd
+
+  REMOTE="origin"
+  if [ "$#" -gt 1 ]; then
+    REMOTE="$1"
+    shift
+  fi
+
+  if [ -z "$1" ]; then
+    echo -e "${BOLD}${UNDERLINE}Usage:${NC} op switch [REMOTE] <BRANCH>"
+    return 1
+  fi
+  BRANCH="$1"
+
+  git fetch "$REMOTE" "$BRANCH"
+  git checkout -f --recurse-submodules "$BRANCH"
+  git reset --hard "${REMOTE}/${BRANCH}"
+  git clean -df
+  git submodule update --init --recursive
+  git submodule foreach git reset --hard
+  git submodule foreach git clean -df
+}
+
 function op_default() {
   echo "An openpilot helper"
   echo ""
@@ -333,6 +357,7 @@ function op_default() {
   echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
   echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
+  echo -e "  ${BOLD}switch${NC}       Switch to a different git branch with a clean slate (nukes any changes)"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
   echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
@@ -388,6 +413,7 @@ function _op() {
     replay )        shift 1; op_replay "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
     install )       shift 1; op_install "$@" ;;
+    switch )        shift 1; op_switch "$@" ;;
     post-commit )   shift 1; op_install_post_commit "$@" ;;
     * ) op_default "$@" ;;
   esac