Merge branch 'master-new-ESCC' into mads-new-rework

# Conflicts: # panda
Refactor ACC command parameters order
2026-07-09 20:42:12 +08:00 · 2024-11-15 19:53:03 +01:00 · 2024-11-15 19:50:31 +01:00 · 2024-11-15 19:50:31 +01:00 · 2024-11-15 19:50:30 +01:00 · 2024-11-15 19:50:30 +01:00
175 changed files with 3285 additions and 3972 deletions
@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/
@@ -0,0 +1,18 @@
+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
@@ -0,0 +1,38 @@
+#!/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 $TARGET_USER: /home/batman/.comma
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(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 "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
@@ -0,0 +1,53 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${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"
+  ]
+}
@@ -0,0 +1,47 @@
+#!/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
@@ -0,0 +1,10 @@
+:: 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
@@ -8,7 +8,7 @@ assignees: ''

 **Checklist**

- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/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:
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.

 **Checklist**

- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/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:
@@ -14,25 +14,17 @@ inputs:
    description: 'whether to save the cache'
    default: 'false'
    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}

 runs:
  using: "composite"
  steps:
    - name: setup namespace cache
-      id: ns-cache
      if: ${{ contains(runner.name, 'nsc') }}
      uses: namespacelabs/nscloud-cache-action@v1
      with:
        path: ${{ inputs.path }}

    - name: setup github cache
-      id: gha-cache
      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
      uses: 'actions/cache@v4'
      with:
@@ -41,7 +33,6 @@ runs:
        restore-keys: ${{ inputs.restore-keys }}

    - name: setup github cache
-      id: gha-cache-ro
      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
      uses: 'actions/cache/restore@v4'
      with:
@@ -15,3 +15,7 @@ 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: ${{ inputs.run_number }}
@@ -19,9 +19,8 @@ jobs:
  docs:
    name: build docs
    runs-on: ubuntu-latest
+    timeout-minutes: 1
    steps:
-    - uses: commaai/timeout@v1
-
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -28,7 +28,7 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        scons -j$(nproc) --minimal opendbc_repo
+        scons -j$(nproc) --minimal opendbc
        PYTHONPATH=. python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
@@ -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-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' }}
+    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' }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
@@ -75,9 +75,15 @@ jobs:
        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"

  build:
-    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:
+      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: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
+                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
+                   'ubuntu-latest'}}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -86,14 +92,17 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

  build_mac:
    name: build macOS
-    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: namespace-profile-macos-8x14
    steps:
    - uses: actions/checkout@v4
      with:
@@ -116,11 +125,28 @@ jobs:
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(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' }}
-      - ${{ ((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' }}
+    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' }}
    env:
      PYTHONWARNINGS: default
    steps:
@@ -134,16 +160,24 @@ 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-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' }}
+    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' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Setup cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/comma_download_cache
+        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
@@ -161,25 +195,27 @@ 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-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' }}
+    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' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        chmod -R 777 /tmp/comma_download_cache && \
@@ -214,9 +250,9 @@ 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-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' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    strategy:
      fail-fast: false
      matrix:
@@ -227,17 +263,17 @@ jobs:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
+      id: dependency-cache
+      uses: ./.github/workflows/auto-cache
      with:
        path: .ci_cache/comma_download_cache
        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
        NUM_JOBS: 4
@@ -306,9 +342,9 @@ 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' }}
-      - ${{ ((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' }}
+    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' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -327,9 +363,9 @@ 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' }}
-      - ${{ ((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' }}
+    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' }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -17,6 +17,7 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup1.outcome == 'failure'
      shell: bash
@@ -26,6 +27,7 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup2.outcome == 'failure'
      shell: bash
@@ -34,4 +36,5 @@ runs:
      if: steps.setup2.outcome == 'failure'
      uses: ./.github/workflows/setup
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
@@ -1,6 +1,10 @@
 name: 'openpilot env setup'

 inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
  is_retried:
    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
    required: false
@@ -20,9 +24,11 @@ runs:
      name: No retries!
      run: |
        if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
+          echo -e "\033[31m"
+          echo "##################################################"
+          echo "    Retries not allowed! Fix the flaky test!      "
+          echo "##################################################"
+          echo -e "\033[0m"
          exit 1
        fi

@@ -30,6 +36,19 @@ runs:
    - shell: bash
      run: git lfs pull

+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
    # build cache
    - id: date
      shell: bash
@@ -0,0 +1,54 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+concurrency:
+  group: tools-tests-ci-run-${{ 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
@@ -1,18 +1,18 @@
 [submodule "panda"]
  path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
  path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
@@ -68,14 +68,17 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER

-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/

 ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
+RUN cd /tmp && \
    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
+    rm -rf /tmp/* && \
+    rm -rf /home/$USER/.cache

 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -79,10 +79,6 @@ 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'
@@ -127,11 +123,6 @@ 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'),
@@ -216,8 +207,8 @@ 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", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
+          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 manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
@@ -252,7 +243,7 @@ node {
      'replay': {
        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
        ])
      },
      'tizi': {
@@ -262,7 +253,7 @@ node {
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
        ])
      },

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC
@@ -349,7 +349,7 @@ Export('common', 'gpucommon')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})

 SConscript(['cereal/SConscript'])

@@ -366,7 +366,6 @@ SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
-  'system/ui/SConscript',
  'system/proclogd/SConscript',
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
@@ -8,7 +8,23 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.

 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+
+  struct ModularAssistiveDrivingSystem {
+    state @0 :ModularAssistiveDrivingSystemState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    available @3 :Bool;
+
+    enum ModularAssistiveDrivingSystemState {
+      disabled @0;
+      paused @1;
+      enabled @2;
+      softDisabling @3;
+      overriding @4;
+    }
+  }
 }

 struct CustomReserved1 @0xaedffd8f31e7b55d {
@@ -126,6 +126,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    personalityChanged @91;
    aeb @92;

+    # sunnypilot
+    lkasEnable @93;
+    lkasDisable @94;
+    manualSteeringRequired @95;
+    manualLongitudinalRequired @96;
+    silentPedalPressed @97;
+    silentLkasEnable @98;
+    silentBrakeHold @99;
+    silentWrongGear @100;
+    silentReverseGear @101;
+
    soundsUnavailableDEPRECATED @47;
  }
 }
@@ -486,9 +497,6 @@ 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;
@@ -589,6 +597,7 @@ struct PandaState @0xa7649e2575e4591e {

  # safety stuff
  controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
  safetyRxInvalid @19 :UInt32;
  safetyTxBlocked @24 :UInt32;
  safetyModel @14 :Car.CarParams.SafetyModel;
@@ -696,7 +705,6 @@ struct PandaState @0xa7649e2575e4591e {
  }

  gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
  hasGpsDEPRECATED @6 :Bool;
  gmlanSendErrsDEPRECATED @9 :UInt32;
  fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2547,7 +2555,7 @@ struct Event {
    customReservedRawData2 @126 :Data;

    # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
    customReserved1 @108 :Custom.CustomReserved1;
    customReserved2 @109 :Custom.CustomReserved2;
    customReserved3 @110 :Custom.CustomReserved3;
@@ -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} -std=c++11")
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
      assert ret == 0, "generated services header is not valid C"
@@ -73,6 +73,9 @@ _services: dict[str, tuple] = {
  "userFlag": (True, 0., 1),
  "microphone": (True, 10., 10),

+  # sunnypilot
+  "selfdriveStateSP": (True, 100., 10),
+
  # debug
  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
@@ -112,6 +112,7 @@ 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},
@@ -200,6 +201,12 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
    {"UpdaterLastFetchTime", PERSISTENT},
    {"Version", PERSISTENT},
+
+    // sunnypilot params
+    {"Mads", PERSISTENT},
+    {"MadsCruiseMain", PERSISTENT},
+    {"MadsDisengageLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
 };

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

@@ -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 = -1.
-    self._next_frame_time = -1.
+    self._last_monitor_time = time.monotonic()

  @property
  def frame(self) -> int:
@@ -79,10 +79,6 @@ 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)
@@ -2,9 +2,8 @@

 #include "common/watchdog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"

-const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
+const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>

 bool watchdog_kick(uint64_t ts) {
  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
@@ -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 2019-25|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|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|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 2022-25|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-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-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>|
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.3"
+  export AGNOS_VERSION="11.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -31,9 +31,6 @@ 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
@@ -101,6 +98,7 @@ dev = [
  "azure-identity",
  "azure-storage-blob",
  "dictdiffer",
+  "flaky",
  "lru-dict",
  "matplotlib",
  "parameterized >=0.8, <0.9",
@@ -241,7 +239,6 @@ exclude = [
  "cereal",
  "panda",
  "opendbc",
-  "opendbc_repo",
  "rednose_repo",
  "tinygrad_repo",
  "teleoprtc",
@@ -32,6 +32,7 @@ blacklist = [

  ".git/",
  ".github/",
+  ".devcontainer/",
  "Darwin/",
  ".vscode",

@@ -37,7 +37,7 @@ for f in sorted(pyf):
  lns = len(src.split("\n"))
  tree = ast.parse(src)
  Analyzer().visit(tree)
-  print(f"{lns:5d} {f} {xbit}")
+  print("%5d %s %s" % (lns, 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(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("%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(sorted(list(imps)))
@@ -1,10 +0,0 @@
-#!/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
@@ -53,7 +53,6 @@ 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
@@ -16,9 +16,9 @@ def waste(core):
  j = 0
  while 1:
    if (i % 100) == 0:
-      setproctitle(f"{core:3d}: {i:8d}")
+      setproctitle("%3d: %8d" % (core, i))
      lt = time.monotonic()
-      print(f"{core:3d}: {i:8d} {lt-st:f}  {j:.2f}")
+      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
      st = lt
    i += 1
    j = np.sum(np.matmul(m1, m2))
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7565541b4e6213221174839b9b2b67397ced0b9807ea56413989fd37325b3b6
+size 4908
@@ -148,7 +148,8 @@ class CarSpecificEvents:
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons),
+                                         allow_cancel=any(self.CP.pcmCruise and b.type == ButtonType.cancel and b.pressed for b in CS.buttonEvents) or not self.CP.pcmCruise)

      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -164,7 +165,8 @@ class CarSpecificEvents:
    return events

  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
+                           allow_cancel=True):
    events = Events()

    if CS.doorOpen:
@@ -215,7 +217,7 @@ class CarSpecificEvents:
      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
        events.add(EventName.buttonEnable)
      # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
+      if b.type == ButtonType.cancel and allow_cancel:
        events.add(EventName.buttonCancel)

    # Handle permanent and temporary steering faults
@@ -22,6 +22,8 @@ from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState

+from opendbc.sunnypilot.mads.mads import MadsParams
+
 REPLAY = "REPLAY" in os.environ

 EventName = log.OnroadEvent.EventName
@@ -113,6 +115,11 @@ class Car:
    if not disengage_on_accelerator:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

+    # mads
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
+    MadsParams().set_alternative_experience(self.CP, self.params)
+
    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")

    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -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/car/docs.py to update the compatibility documentation"
+    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"

  def test_docs_diff(self):
    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
@@ -394,7 +394,7 @@ class TestCarModelBase(unittest.TestCase):
      for msg in filter(lambda m: m.src in range(64), can.can):
        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
        ret = self.safety.safety_rx_hook(to_send)
-        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")
+        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")

      # Skip first frame so CS_prev is properly initialized
      if idx == 0:
@@ -56,6 +56,9 @@ class Controls:
    elif self.CP.lateralTuning.which() == 'torque':
      self.LaC = LatControlTorque(self.CP, self.CI)

+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
  def update(self):
    self.sm.update(15)
    if self.sm.updated["liveCalibration"]:
@@ -88,7 +91,12 @@ class Controls:

    # Check which actuators can be enabled
    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+
+    ss_sp = self.sm['selfdriveStateSP']
+    CC.madsActive = ss_sp.mads.available and ss_sp.mads.active
+
+    _lat_active = ss_sp.mads.enabled if ss_sp.mads.available else self.sm['selfdriveState'].active
+    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl

    actuators = CC.actuators
@@ -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 += f"{_addr:04X}({_addr:4d})({len(msgs[_addr]):6d})({freq:3}dHz) {x.ljust(20)} {a}\n"
+          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
      print(dd)
      lp = time.monotonic()

@@ -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.values():
+      for cp in tm.CI.can_parsers:
        if cp is not None:
          cp.update_strings(can_list)
    ets.append((time.process_time_ns() - start_t) * 1e-6)
@@ -8,7 +8,6 @@ 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()
@@ -21,7 +20,7 @@ if __name__ == "__main__":
  start_time = math.inf
  end_time = -math.inf
  ignition_off = None
-  for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
+  for msg in 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)
@@ -22,7 +22,7 @@ def get_fingerprint(lr):
          msgs[c.address] = len(c.dat)

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

@@ -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(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
+  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))

  print(f"number of messages {len(msgs)}:")
  print(f"fingerprint {fingerprint}")
@@ -8,7 +8,6 @@ from enum import Enum
 from collections import defaultdict

 from cereal import log, messaging
-from cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
@@ -24,10 +23,8 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
-TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
-TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
+INPUT_INVALID_THRESHOLD = 0.5
+INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after a bad input
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20

@@ -268,13 +265,10 @@ def main():
  estimator = LocationEstimator(DEBUG)

  filter_initialized = False
-  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
-  observation_timing_invalid = defaultdict(int)
+  critcal_services = ["accelerometer", "gyroscope", "liveCalibration", "cameraOdometry"]
+  observation_timing_invalid = False
  observation_input_invalid = defaultdict(int)

-  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-
  initial_pose = params.get("LocationFilterInitialState")
  if initial_pose is not None:
    initial_pose = json.loads(initial_pose)
@@ -288,6 +282,8 @@ def main():
    acc_msgs, gyro_msgs = (messaging.drain_sock(sock) for sock in sensor_sockets)

    if filter_initialized:
+      observation_timing_invalid = False
+
      msgs = []
      for msg in acc_msgs + gyro_msgs:
        t, valid, which, data = msg.logMonoTime, msg.valid, msg.which(), getattr(msg, msg.which())
@@ -302,23 +298,18 @@ def main():
        if valid:
          t = log_mono_time * 1e-9
          res = estimator.handle_log(t, which, msg)
-          if which not in critcal_services:
-            continue
-
          if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid[which] += 1
+            observation_timing_invalid = True
          elif res == HandleLogResult.INPUT_INVALID:
            observation_input_invalid[which] += 1
          else:
-            observation_input_invalid[which] *= input_invalid_decay[which]
-            observation_timing_invalid[which] *= timing_invalid_decay[which]
+            observation_input_invalid[which] *= INPUT_INVALID_DECAY
    else:
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid and not observation_timing_invalid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

      msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
@@ -1,3 +1,4 @@
+import pytest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -16,7 +17,6 @@ SELECT_COMPARE_FIELDS = {
  'sensors_flag': ['sensorsOK'],
 }
 JUNK_IDX = 100
-CONSISTENT_SPIKES_COUNT = 10


 class Scenario(Enum):
@@ -25,8 +25,6 @@ class Scenario(Enum):
  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
  ACCEL_OFF = 'accel_off'
  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
-  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
-  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'


 def get_select_fields_data(logs):
@@ -45,17 +43,6 @@ def get_select_fields_data(logs):
  return data


-def modify_logs_midway(logs, which, count, fn):
-  non_which = [x for x in logs if x.which() != which]
-  which = [x for x in logs if x.which() == which]
-  temps = which[len(which) // 2:len(which) // 2 + count]
-  for i, temp in enumerate(temps):
-    temp = temp.as_builder()
-    fn(temp)
-    which[len(which) // 2 + i] = temp.as_reader()
-  return sorted(non_which + which, key=lambda x: x.logMonoTime)
-
-
 def run_scenarios(scenario, logs):
  if scenario == Scenario.BASE:
    pass
@@ -64,28 +51,30 @@ def run_scenarios(scenario, logs):
    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)

  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
-    def gyro_spike(msg):
-      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
+    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
+    gyro = [x for x in logs if x.which() in 'gyroscope']
+    temp = gyro[len(gyro) // 2].as_builder()
+    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
+    gyro[len(gyro) // 2] = temp.as_reader()
+    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)

  elif scenario == Scenario.ACCEL_OFF:
    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)

  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
-    def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 10.0
-    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
-
-  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
-    def timing_spike(msg):
-      msg.accelerometer.timestamp -= int(0.150 * 1e9)
-    count = 1 if scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
-    logs = modify_logs_midway(logs, 'accelerometer', count, timing_spike)
+    non_accel = [x for x in logs if x.which() not in 'accelerometer']
+    accel = [x for x in logs if x.which() in 'accelerometer']
+    temp = accel[len(accel) // 2].as_builder()
+    temp.accelerometer.acceleration.v[0] += 10.0
+    accel[len(accel) // 2] = temp.as_reader()
+    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)

  replayed_logs = replay_process_with_name(name='locationd', lr=logs)
  return get_select_fields_data(logs), get_select_fields_data(replayed_logs)


+@pytest.mark.xdist_group("test_locationd_scenarios")
+@pytest.mark.shared_download_cache
 class TestLocationdScenarios:
  """
  Test locationd with different scenarios. In all these scenarios, we expect the following:
@@ -133,7 +122,7 @@ class TestLocationdScenarios:
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[696] == 1.0

  def test_accel_off(self):
    """
@@ -157,21 +146,3 @@ class TestLocationdScenarios:
    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-
-  def test_single_timing_spike(self):
-    """
-    Test: timing of 150ms off for the single accelerometer message in the middle of the segment
-    Expected Result: the message is ignored, and inputsOK is False for that time
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_SPIKE_MIDWAY, self.logs)
-    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
-    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
-
-  def test_consistent_timing_spikes(self):
-    """
-    Test: consistent timing spikes for N accelerometer messages in the middle of the segment
-    Expected Result: inputsOK becomes False after N of bad measurements
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
@@ -12,6 +12,7 @@ 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
@@ -125,6 +126,7 @@ 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)
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9dc64f5d1e7d6b67f1d4659a3483f03b4324b4c7b969a5ba90c4e37e62bf6fce
-size 50320584
+oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
+size 50320138
@@ -145,10 +145,6 @@ void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
  handle->control_write(0xde, bus, (speed * 10));
 }

-void Panda::set_can_fd_auto(uint16_t bus, bool enabled) {
-  handle->control_write(0xe8, bus, enabled);
-}
-
 void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
  handle->control_write(0xf9, bus, (speed * 10));
 }
@@ -77,7 +77,6 @@ public:
  void enable_deepsleep();
  void send_heartbeat(bool engaged);
  void set_can_speed_kbps(uint16_t bus, uint16_t speed);
-  void set_can_fd_auto(uint16_t bus, bool enabled);
  void set_data_speed_kbps(uint16_t bus, uint16_t speed);
  void set_canfd_non_iso(uint16_t bus, bool non_iso);
  void can_send(const capnp::List<cereal::CanData>::Reader &can_data_list);
@@ -67,10 +67,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
  }
  //panda->enable_deepsleep();

-  for (int i = 0; i < PANDA_BUS_CNT; i++) {
-    panda->set_can_fd_auto(i, true);
-  }
-
  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
  }
@@ -144,6 +140,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
  ps.setIgnitionLine(health.ignition_line_pkt);
  ps.setIgnitionCan(health.ignition_can_pkt);
  ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
  ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
  ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
  ps.setPandaType(hw_type);
@@ -239,7 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
        // due to full TX buffers
        nack_count += 1;
        if (nack_count > 3) {
-          SPILOG(LOGD, "NACK sleep %d", nack_count);
+          SPILOG(LOGE, "NACK sleep %d", nack_count);
          usleep(std::clamp(nack_count*10, 200, 2000));
        }
      }
@@ -418,7 +418,7 @@ fail:
    }
  }

-  if (ret >= 0) ret = -1;
+  if (ret > 0) ret = -1;
  return ret;
 }
 #endif
@@ -6,7 +6,6 @@ import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
@@ -52,7 +51,6 @@ class TestPandad:
    assert not Panda.wait_for_dfu(None, 3)
    assert not Panda.wait_for_panda(None, 3)

-  @retry(attempts=3)
  def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
    self._go_to_dfu()
    pd = PandaDFU(None)
@@ -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 with_processes
+from openpilot.selfdrive.test.helpers import phone_only, with_processes


@retry(attempts=3)
@@ -72,6 +72,7 @@ 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
@@ -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 with_processes
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages

 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@@ -23,6 +23,7 @@ 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)
@@ -105,6 +105,17 @@ class Events:
      ret.append(event)
    return ret

+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+

 class Alert:
  def __init__(self,
@@ -951,6 +962,85 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
    ET.WARNING: personality_changed_alert,
  },

+  # sunnypilot
+  EventName.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventName.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control is OFF",
+      "Manual Gas/Brakes Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventName.silentPedalPressed: {
+    ET.USER_DISABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
+                              visual_alert=VisualAlert.brakePressed),
+  },
+
+  EventName.silentLkasEnable: {
+    ET.ENABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0.),
+  },
+
+  EventName.silentBrakeHold: {
+    ET.USER_DISABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.silentWrongGear: {
+    ET.USER_DISABLE: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 3.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 3.),
+  },
+
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.USER_DISABLE: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
 }


@@ -23,6 +23,8 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE

 from openpilot.system.version import get_build_metadata

+from opendbc.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -131,6 +133,10 @@ class SelfdriveD:
    elif self.CP.passive:
      self.events.add(EventName.dashcamMode, static=True)

+    self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.pm = messaging.PubMaster(sock_services)
+
  def update_events(self, CS):
    """Compute onroadEvents from carState"""

@@ -451,11 +457,24 @@ class SelfdriveD:
      self.pm.send('onroadEvents', ce_send)
    self.events_prev = self.events.names.copy()

+    # selfdriveStateSP
+    ss_sp_msg = messaging.new_message('selfdriveStateSP')
+    ss_sp_msg.valid = True
+    ss_sp = ss_sp_msg.selfdriveStateSP
+    mads = ss_sp.mads
+    mads.state = self.mads.state_machine.state
+    mads.enabled = self.mads.enabled
+    mads.active = self.mads.active
+    mads.available = self.mads.enabled_toggle
+
+    self.pm.send('selfdriveStateSP', ss_sp_msg)
+
  def step(self):
    CS = self.data_sample()
    self.update_events(CS)
    if not self.CP.passive and self.initialized:
      self.enabled, self.active = self.state_machine.update(self.events)
+    self.mads.update(CS)
    self.update_alerts(CS)

    self.publish_selfdriveState(CS)
@@ -42,7 +42,7 @@ class TestAlerts:

    for name, e in events.items():
      if not name.endswith("DEPRECATED"):
-        fail_msg = f"{name} @{e} not in EVENTS"
+        fail_msg = "%s @%d not in EVENTS" % (name, e)
        assert e in EVENTS.keys(), fail_msg

  # ensure alert text doesn't exceed allowed width
@@ -10,6 +10,7 @@ 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


@@ -28,6 +29,14 @@ 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):
@@ -7,20 +7,19 @@ import tempfile
 from itertools import zip_longest

 import matplotlib.pyplot as plt
-import numpy as np

 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils

 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
-MAX_FRAMES = 100 if PC else 400
+MAX_FRAMES = 100 if PC else 600

 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
@@ -32,14 +31,14 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)


 def get_log_fn(test_route, ref="master"):
-  return f"{test_route}_model_tici_{ref}.zst"
+  return f"{test_route}_model_tici_{ref}.bz2"

 def plot(proposed, master, title, tmp):
  proposed = list(proposed)
  master = list(master)
  fig, ax = plt.subplots()
-  ax.plot(master, label='MASTER')
  ax.plot(proposed, label='PROPOSED')
+  ax.plot(master, label='MASTER')
  plt.legend(loc='best')
  plt.title(title)
  plt.savefig(f'{tmp}/{title}.png')
@@ -152,44 +151,21 @@ def model_replay(lr, frs):
  dmonitoringmodeld = get_process_config("dmonitoringmodeld")

  modeld_msgs = replay_process(modeld, modeld_logs, frs)
-  if isinstance(frs['roadCameraState'], NumpyFrameReader):
-    del frs['roadCameraState'].frames
-    del frs['wideRoadCameraState'].frames
  dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
  return modeld_msgs + dmonitoringmodeld_msgs


-def get_frames():
-  regen_cache = "--regen-cache" in sys.argv
-  cache = "--cache" in sys.argv or not PC or regen_cache
-  videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
-  cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
-
-  if cache:
-    frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
-    os.makedirs(frames_cache, exist_ok=True)
-
-    cache_size = 200
-    for v in videos:
-      if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
-        f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
-        print(f'Caching {v}...')
-        for i in range(MAX_FRAMES//cache_size):
-          np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
-        del f
-
-    return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
-  else:
-    return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
-
-
 if __name__ == "__main__":
  update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
  replay_dir = os.path.dirname(os.path.abspath(__file__))

  # load logs
-  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
-  frs = get_frames()
+  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
+  frs = {
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
+  }

  log_msgs = []
  # run replays
@@ -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
@@ -780,7 +780,8 @@ 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 = {}
-  environ_dict["PARAMS_ROOT"] = f"{Paths.shm_path()}/params"
+  if platform.system() != "Darwin":
+    environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
  if log_dir is not None:
    environ_dict["LOG_ROOT"] = log_dir

@@ -1 +1 @@
-255ceb08c75bc85379da5ec247e612be3716fb43
+2fc2e865ab77fd8145feab86d454f2111c5d9871
@@ -72,7 +72,7 @@ PROCS = {

 PROCS.update({
  "tici": {
-    "./pandad": 5.0,
+    "./pandad": 4.0,
    "./ubloxd": 1.0,
    "system.ubloxd.pigeond": 6.0,
  },
@@ -138,7 +138,6 @@ class TestOnroad:
    proc = None
    try:
      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
-      cls.manager_st = time.monotonic()
      proc = subprocess.Popen(["python", manager_path])

      sm = messaging.SubMaster(['carState'])
@@ -203,10 +202,6 @@ class TestOnroad:
      with subtests.test(service=s):
        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))

-  def test_manager_starting_time(self):
-    st = self.msgs['managerState'][0].logMonoTime / 1e9
-    assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
-
  def test_cloudlog_size(self):
    msgs = self.msgs['logMessage']

@@ -300,18 +295,13 @@ class TestOnroad:
    assert cpu_ok

  def test_memory_usage(self):
-    print("\n------------------------------------------------")
-    print("--------------- Memory Usage -------------------")
-    print("------------------------------------------------")
    offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
    mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
    print("Memory usage: ", mems)

    # check for big leaks. note that memory usage is
    # expected to go up while the MSGQ buffers fill up
-    assert np.average(mems) <= 65, "Average memory usage above 65%"
-    assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
-    assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
+    assert max(mems) - min(mems) <= 3.0

  def test_gpu_usage(self):
    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
@@ -110,3 +110,5 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
+
+SConscript(['raylib/SConscript'])
@@ -124,7 +124,6 @@ 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;
@@ -49,6 +49,20 @@ void DeveloperPanel::updateToggles(bool _offroad) {
  }

  offroad = _offroad;
+
+  // FIXME-SP: Move to sunnypilot panels before merging
+  auto madsToggle = new ParamControl("Mads", tr("Modular Assistive Driving System (MADS)"), "", "");
+  addItem(madsToggle);
+
+  // TODO-SP: Rename toggle
+  auto madsCruiseMainToggle = new ParamControl("MadsCruiseMain", tr("MADS: Cruise Main"), "", "");
+  addItem(madsCruiseMainToggle);
+
+  auto madsDisengageLateralOnBrakeToggle = new ParamControl("MadsDisengageLateralOnBrake", tr("MADS: Disengage Lateral on Brake"), "", "");
+  addItem(madsDisengageLateralOnBrakeToggle);
+
+  auto madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("MADS: Unified Engagement Mode"), "", "");
+  addItem(madsUnifiedEngagementModeToggle);
 }

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

@@ -0,0 +1 @@
+_spinner
@@ -0,0 +1,17 @@
+Import('env', 'arch', 'common')
+
+raylib_env = env.Clone()
+raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
+linked_libs = ['raylib', raylib_util_lib, common]
+raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+
+mac_frameworks = []
+if arch == "Darwin":
+  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
+elif arch == 'larch64':
+  linked_libs += []
+else:
+  linked_libs += ['OpenCL', 'dl', 'pthread']
+
+if arch != 'aarch64':
+  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
@@ -2,7 +2,8 @@
 #include <cmath>
 #include <iostream>

-#include "system/ui/raylib/util.h"
+#include "selfdrive/ui/raylib/util.h"
+#include "third_party/raylib/include/raylib.h"

 constexpr int kProgressBarWidth = 1000;
 constexpr int kProgressBarHeight = 20;
@@ -18,15 +19,15 @@ int main(int argc, char *argv[]) {
  std::cin.sync_with_stdio(false);
  std::cin.tie(nullptr);

-  Texture2D commaTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_comma.png", kTextureSize);
-  Texture2D spinnerTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_track.png", kTextureSize);
+  Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
+  Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);

  float rotation = 0.0f;
  std::string userInput;

  while (!WindowShouldClose()) {
    BeginDrawing();
-    ClearBackground(RAYLIB_BLACK);
+    ClearBackground(BLACK);

    rotation = fmod(rotation + kRotationRate, 360.0f);
    Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
@@ -36,8 +37,8 @@ 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, RAYLIB_WHITE);
-    DrawTextureV(commaTexture, commaPosition, RAYLIB_WHITE);
+                   spinnerOrigin, rotation, WHITE);
+    DrawTextureV(commaTexture, commaPosition, WHITE);

    // Check for user input
    if (std::cin.rdbuf()->in_avail() > 0) {
@@ -49,14 +50,14 @@ 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, RAYLIB_GRAY);
+        DrawRectangleRounded(bar, 0.5f, 10, GRAY);

        int progress = std::clamp(std::stoi(userInput), 0, 100);
        bar.width *= progress / 100.0f;
-        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_RAYWHITE);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
      } else {
        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
-        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
      }
    }

@@ -1,4 +1,4 @@
-#include "system/ui/raylib/util.h"
+#include "selfdrive/ui/raylib/util.h"

 #include <array>

@@ -23,6 +23,7 @@ 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);
    }
  }

@@ -42,6 +43,7 @@ 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;
 }

@@ -49,6 +51,6 @@ void initApp(const char *title, int fps) {
  Hardware::set_display_power(true);
  Hardware::set_brightness(65);
  // SetTraceLogLevel(LOG_NONE);
-  InitWindow(2160, 1080, title);
+  InitWindow(0, 0, title);
  SetTargetFPS(fps);
 }
@@ -2,7 +2,7 @@

 #include <string>

-#include "system/ui/raylib/raylib.h"
+#include "third_party/raylib/include/raylib.h"

 enum class FontWeight {
  Normal,
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>وضع المناورة الطولية</translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>Modo de maniobra longitudinal</translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>롱컨 기동 모드</translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>Modo Longitudinal Maneuver</translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -123,6 +123,22 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -54,7 +54,6 @@ 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

@@ -100,9 +99,9 @@ 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:
@@ -130,9 +129,8 @@ class UploadQueueCache:
  @staticmethod
  def cache(upload_queue: Queue[UploadItem]) -> None:
    try:
-      with upload_queue.mutex:
-        items = [asdict(item) for item in upload_queue.queue]
-
+      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)]
      Params().put("AthenadUploadQueue", json.dumps(items))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -199,13 +197,11 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
      progress=0,
      current=False
    )
-
-    with cur_upload_items_lock:
-      upload_queue.put_nowait(item)
-      cur_upload_items[tid] = None
-
+    upload_queue.put_nowait(item)
    UploadQueueCache.cache(upload_queue)

+    cur_upload_items[tid] = None
+
    for _ in range(RETRY_DELAY):
      time.sleep(1)
      if end_event.is_set():
@@ -215,17 +211,15 @@ 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
-  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
+  sm.update(0)
+  metered = sm['deviceState'].networkMetered
+  if metered and (not item.allow_cellular):
+    raise AbortTransferException

  if end_event.is_set():
    raise AbortTransferException

-  with cur_upload_items_lock:
-    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)


 def upload_handler(end_event: threading.Event) -> None:
@@ -233,10 +227,14 @@ def upload_handler(end_event: threading.Event) -> None:
  tid = threading.get_ident()

  while not end_event.is_set():
+    cur_upload_items[tid] = None
+
    try:
-      with cur_upload_items_lock:
-        cur_upload_items[tid] = None
-        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
+      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

      # Remove item if too old
      age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -260,13 +258,13 @@ 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))

-        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)
+        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):
@@ -311,16 +309,13 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
    raise Exception("invalid service")

  socket = messaging.sub_sock(service, timeout=timeout)
-  try:
-    ret = messaging.recv_one(socket)
+  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())
-  finally:
-    del socket
+  # this is because capnp._DynamicStructReader doesn't have typing information
+  return cast(dict, ret.to_dict())


@dispatcher.add_method
@@ -415,10 +410,8 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo

@dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  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]
+  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)]


@dispatcher.add_method
@@ -426,14 +419,13 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
  if not isinstance(upload_id, list):
    upload_id = [upload_id]

-  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"}
+  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"}

-    upload_queue.queue.clear()
-    upload_queue.queue.extend(remaining_items)
-    return {"success": 1}
+  cancelled_uploads.update(cancelled_ids)
+  return {"success": 1}

@dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
@@ -634,9 +626,8 @@ 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:
@@ -810,8 +801,6 @@ def main(exit_event: threading.Event = None):
      cur_upload_items.clear()

      handle_long_poll(ws, exit_event)
-
-      ws.close()
    except (KeyboardInterrupt, SystemExit):
      break
    except (ConnectionError, TimeoutError, WebSocketException):
@@ -78,6 +78,7 @@ 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)
@@ -239,7 +240,7 @@ 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.__enter__.return_value.status_code = status
+    mock_put.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)

@@ -281,10 +282,13 @@ 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):
@@ -327,7 +331,7 @@ class TestAthenadMethods:
    assert items[0] == asdict(item)
    assert not items[0]['current']

-    dispatcher["cancelUpload"](item.id)
+    athenad.cancelled_uploads.add(item.id)
    items = dispatcher["listUploadQueue"]()
    assert len(items) == 0

@@ -339,7 +343,7 @@ class TestAthenadMethods:
    athenad.upload_queue.put_nowait(item2)

    # Ensure canceled items are not persisted
-    dispatcher["cancelUpload"](item2.id)
+    athenad.cancelled_uploads.add(item2.id)

    # serialize item
    athenad.UploadQueueCache.cache(athenad.upload_queue)
@@ -65,19 +65,16 @@ 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 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);
+  // 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);
  }
+  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;
@@ -86,8 +83,8 @@ 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, 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);
+  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);

  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }
@@ -8,7 +8,7 @@
 #include "common/util.h"


-const int VIPC_BUFFER_COUNT = 18;
+const int YUV_BUFFER_COUNT = 20;

 typedef struct FrameMetadata {
  uint32_t frame_id;
@@ -69,10 +69,10 @@ public:
 };

 void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  camera.camera_open(v, device_id, ctx);
-
  if (!camera.enabled) return;

+  camera.camera_open(v, device_id, ctx);
+
  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
  set_exposure_rect();

@@ -140,14 +140,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
  // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
  // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete

+  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3];
  const auto &sensor = camera.sensor;
-  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale;

  // Scale target grey between 0.1 and 0.4 depending on lighting conditions
  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
  float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;

-  float desired_ev = std::clamp(cur_ev_ / sensor->ev_scale * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
+  float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
  float k = (1.0 - k_ev) / 3.0;
  desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);

@@ -242,9 +242,6 @@ 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() {
@@ -264,12 +261,12 @@ 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);
@@ -291,15 +288,14 @@ 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, ife_buf_depth, cc.stream_type);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, 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) % ife_buf_depth] = i;
-    enqueue_buffer((i - 1) % ife_buf_depth, dp);
+    request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
+    enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
  }
 }

@@ -674,7 +670,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
  int ret;
  uint64_t request_id = request_ids[i];

-  if (sync_objs[i]) {
+  if (buf_handle_raw[i] && sync_objs[i]) {
    // wait
    struct cam_sync_wait sync_wait = {0};
    sync_wait.sync_obj = sync_objs[i];
@@ -737,31 +733,31 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {

 void SpectraCamera::camera_map_bufs() {
  int ret;
-  for (int i = 0; i < ife_buf_depth; i++) {
+  for (int i = 0; i < FRAME_BUF_COUNT; 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;

-    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;
-    }
+    // 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;
  }
+  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }

 bool SpectraCamera::openSensor() {
@@ -874,7 +870,7 @@ 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, ife_buf_depth);
+               m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
  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,
@@ -929,7 +925,7 @@ void SpectraCamera::configICP() {

  // BPS CMD buffer
  unsigned char striping_out[] = "\x00";
-  bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20,
+  bps_cmd.init(m, FRAME_BUF_COUNT*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);

@@ -1050,8 +1046,9 @@ 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 < ife_buf_depth; i++) {
-      release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]);
+    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]);
    }
    LOGD("released buffers");
  }
@@ -1074,13 +1071,13 @@ 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) % ife_buf_depth;
+    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;

    // 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, ife_buf_depth - 1, 0);
+      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
      skipped = true;
    } else if (main_id == frame_id_last + 1) {
      skipped = false;
@@ -1089,7 +1086,7 @@ 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 + ife_buf_depth, real_id - (request_id_last + 1), 0);
+      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
    }

    // metas
@@ -1102,12 +1099,12 @@ 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 + ife_buf_depth, 1, 1);
+    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 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, ife_buf_depth, 0);
+      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
      frame_id_last = main_id;
      skipped = true;
    }
@@ -12,7 +12,7 @@
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"

-#define MAX_IFE_BUFS 20
+#define FRAME_BUF_COUNT 4

 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py

@@ -116,7 +116,6 @@ public:

  // *** state ***

-  int ife_buf_depth = -1;
  bool open = false;
  bool enabled = true;
  CameraConfig cc;
@@ -152,11 +151,11 @@ public:
  SpectraBuf bps_iq;
  SpectraBuf bps_striping;

-  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] = {};
+  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] = {};
  uint64_t request_id_last = 0;
  uint64_t frame_id_last = 0;
  uint64_t idx_offset = 0;
@@ -43,28 +43,27 @@ OS04C10::OS04C10() {
  frame_data_type = 0x2c;
  mclk_frequency = 24000000; // Hz

-  ev_scale = 150.0;
  dc_gain_factor = 1;
  dc_gain_min_weight = 1;  // always on is fine
  dc_gain_max_weight = 1;
  dc_gain_on_grey = 0.9;
  dc_gain_off_grey = 1.0;
  exposure_time_min = 2;
-  exposure_time_max = 1684;
+  exposure_time_max = 2400;
  analog_gain_min_idx = 0x0;
  analog_gain_rec_idx = 0x0;  // 1x
-  analog_gain_max_idx = 0x28;
+  analog_gain_max_idx = 0x36;
  analog_gain_cost_delta = -1;
  analog_gain_cost_low = 0.4;
  analog_gain_cost_high = 6.4;
  for (int i = 0; i <= analog_gain_max_idx; i++) {
    sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
  }
-  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
+  min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
  target_grey_factor = 0.01;

-  black_level = 48;
+  black_level = 64;
  color_correct_matrix = {
    0x000000c2, 0x00000fe0, 0x00000fde,
    0x00000fa7, 0x000000d9, 0x00001000,
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
DevTekVE	10124e8e4e	Merge branch 'master-new-ESCC' into mads-new-rework # Conflicts: # panda	2024-11-15 19:53:03 +01:00
DevTekVE	1039cac2fd	Refactor ACC command parameters order Rearrange parameters in the `create_acc_commands` function to prioritize `CS.main_cruise_enabled` over `self.ESCC`. This change aligns with the desired order of priorities and improves readability.	2024-11-15 19:50:31 +01:00
DevTekVE	1700f6cdb0	Refactor type hinting for CarState in update method Changed the type hinting of the CS parameter from structs.CarState to CarState in the update method. This aligns the code with the current naming conventions and improves readability.	2024-11-15 19:50:31 +01:00
DevTekVE	747db17aa1	Refactor spFlags to safetyParam2DEPRECATED Updated Hyundai car state and interface files to use `sunnyParams.flags` instead of `spFlags` for consistency. This included changes in the conditional checks and flag assignments. The car.capnp struct was also modified to rename `spFlags` to `safetyParam2DEPRECATED`.	2024-11-15 19:50:30 +01:00
DevTekVE	9be2f5628d	Remove MADS components and migrate to Opendbc repo The Modular Assistive Driving System (MADS) related files and tests have been removed from the sunnypilot directory. MADS functionality has been migrated to the opendbc repository, streamlining its structure and integration.	2024-11-15 19:50:30 +01:00
Jason Wen	60d6e7efce	fix panda safety	2024-11-15 12:19:16 -05:00
Jason Wen	ba11b97c59	Rename	2024-11-15 12:03:28 -05:00
Jason Wen	aaf35b391e	check if engagement is from openpilot's state machine	2024-11-15 11:45:11 -05:00
Jason Wen	a3c9d72a1e	not needed	2024-11-15 11:40:18 -05:00
Jason Wen	6fa78b1db4	more fix	2024-11-15 11:39:13 -05:00
Jason Wen	8f0639ca6c	combine	2024-11-15 11:34:01 -05:00
Jason Wen	6a0bc76e63	fix	2024-11-15 11:32:15 -05:00
Jason Wen	23e27bea92	make sure to disengage for allow always cars	2024-11-15 11:29:38 -05:00
Jason Wen	3be1fde36b	Fix?	2024-11-15 09:01:12 -05:00
Jason Wen	473349e7b7	rename	2024-11-15 07:32:33 -05:00
Jason Wen	71ffd05027	fix	2024-11-15 07:31:41 -05:00
Jason Wen	ab8547d04b	bump opendbc	2024-11-15 07:17:21 -05:00
Jason Wen	74eacd2d44	apply pause/resume fix for hyundai (should do this in a separate PR)	2024-11-15 07:17:11 -05:00
Jason Wen	6a059c6877	bump panda	2024-11-15 07:10:14 -05:00
DevTekVE	eb9b9a13ff	Merge remote-tracking branch 'origin/master-new' into mads-new # Conflicts: # panda # selfdrive/ui/qt/offroad/developer_panel.cc	2024-11-15 09:32:22 +01:00
DevTekVE	1d4da71784	bump opendbc	2024-11-15 09:30:50 +01:00
DevTekVE	094b856509	Sync up submodules for ESCC	2024-11-15 08:27:27 +01:00
DevTekVE	3da0dfd47f	Updating submodules	2024-11-15 08:16:52 +01:00
Jason Wen	6edaf619bf	Add Custom MIT License (#438 )	2024-11-15 08:11:51 +01:00
Jason Wen	82510dc48c	allow re-regage	2024-11-14 23:41:19 -05:00
Jason Wen	5c6750b2ad	bump opendbc	2024-11-14 23:34:07 -05:00
Jason Wen	a13e5816bb	enforce main	2024-11-14 23:34:02 -05:00
Jason Wen	e1b2b10638	add logging for controls allowed lateral	2024-11-14 23:09:11 -05:00
Jason Wen	58fb1b44b6	hyundai: main button heartbeat	2024-11-14 22:29:38 -05:00
Jason Wen	d78e66deef	hyundai: main button handling	2024-11-14 21:46:47 -05:00
Jason Wen	4b1920ecce	handle non drive gear events	2024-11-14 20:24:36 -05:00
Jason Wen	dc45bda8b8	no longer needed	2024-11-14 20:00:20 -05:00
Jason Wen	b824810be2	bump panda	2024-11-14 20:00:06 -05:00
Jason Wen	08962ad619	hkg always allow	2024-11-14 19:59:52 -05:00
Jason Wen	652a24f13e	only allow lateral when cruise main or state is on	2024-11-14 17:19:23 -05:00
Jason Wen	ca92ffcb57	rename	2024-11-14 17:05:35 -05:00
Jason Wen	80ebb43365	simply checks	2024-11-14 16:59:56 -05:00
Jason Wen	23f417f450	properly	2024-11-13 23:40:44 -05:00
Jason Wen	e63ad5a011	handle available better	2024-11-13 22:44:22 -05:00
Jason Wen	b8a82755e6	support toyota and ford	2024-11-13 20:57:38 -05:00
Jason Wen	70e7747f74	cruise main engage	2024-11-13 20:55:14 -05:00
Jason Wen	de1b084902	enforce cruise main disengage	2024-11-13 20:39:47 -05:00
Jason Wen	097c976a49	Make sure to disengage with long engaged	2024-11-13 20:21:41 -05:00
Jason Wen	5efd1d63bb	Unified Engagement Mode: more	2024-11-13 20:15:02 -05:00
Jason Wen	fa3ce0e2a3	add TODO	2024-11-13 20:06:00 -05:00
Jason Wen	835cb71e3b	refactor mads params read	2024-11-13 20:04:40 -05:00
Jason Wen	4603fd0f03	Unified Engagement Mode: init	2024-11-13 19:59:19 -05:00
Jason Wen	7f2660d0ad	only when mads toggle is enabled	2024-11-13 19:47:51 -05:00
Jason Wen	aa0f588248	change events	2024-11-13 19:42:05 -05:00
Jason Wen	e3e65de225	add lkas enable and disable events	2024-11-13 19:26:22 -05:00
Jason Wen	37b461a591	unused	2024-11-13 16:57:26 -05:00
Jason Wen	2f09489746	enable should carry over from selfdrived	2024-11-13 13:33:00 -05:00
Jason Wen	a9c1e7e277	Expose in settings	2024-11-13 13:25:55 -05:00
Jason Wen	ca0020e613	should be the whole class	2024-11-13 13:12:24 -05:00
Jason Wen	5326b18130	set alt experience in helpers	2024-11-13 13:12:18 -05:00
Jason Wen	c99299af1f	no longer needed	2024-11-13 12:56:42 -05:00
Jason Wen	9422a3cf47	implement params	2024-11-13 12:54:02 -05:00
Jason Wen	872abdda17	this is checked after selfdrived states	2024-11-13 11:16:42 -05:00
Jason Wen	1c2e9bd5b1	inherit in carcontroller properly	2024-11-13 03:07:29 -05:00
Jason Wen	70cf693d15	bump panda	2024-11-13 02:38:25 -05:00
Jason Wen	06dc945b09	consolidate	2024-11-13 02:18:29 -05:00
Jason Wen	8fc21127bd	use old copy as checks	2024-11-13 02:15:44 -05:00
Jason Wen	eecffb9c8a	should be here	2024-11-13 02:08:17 -05:00
Jason Wen	71eb28e1d8	Revert "update in method" This reverts commit `0403a48e88`.	2024-11-13 01:21:12 -05:00
Jason Wen	e605398f55	Revert "reorder" This reverts commit `1a988c716d`.	2024-11-13 01:21:12 -05:00
Jason Wen	1a988c716d	reorder	2024-11-13 01:18:51 -05:00
Jason Wen	0403a48e88	update in method	2024-11-13 01:15:22 -05:00
Jason Wen	d9fb57e5f8	Revert "do it prior" This reverts commit `b38798c1a5`.	2024-11-13 00:58:37 -05:00
Jason Wen	b38798c1a5	do it prior	2024-11-13 00:00:08 -05:00
Jason Wen	555a753f4c	brake check was not handled	2024-11-12 22:52:05 -05:00
Jason Wen	8485cd2013	make sure it's either or	2024-11-12 22:00:44 -05:00
Jason Wen	0fa1ff07f5	try this out	2024-11-12 19:58:22 -05:00
Jason Wen	d2cbdeb683	take them out for all modes	2024-11-12 19:14:37 -05:00
Jason Wen	7c633afe7e	skip pedal pressed for MADS	2024-11-12 17:53:50 -05:00
Jason Wen	e5a34e9023	add always available for hyundai	2024-11-12 17:53:25 -05:00
Jason Wen	81708364b8	new logic	2024-11-12 16:15:27 -05:00
Jason Wen	e0e940dd55	do this	2024-11-12 09:17:21 -05:00
Jason Wen	c0b92dee04	more fixes	2024-11-11 22:17:11 -05:00
Jason Wen	249e7c2fa2	fixes	2024-11-11 20:46:56 -05:00
Jason Wen	fae91beaae	better	2024-11-11 20:38:10 -05:00
Jason Wen	376cbbdf83	missed	2024-11-11 20:28:00 -05:00
Jason Wen	b497bc607f	reset as it should	2024-11-11 09:46:47 -05:00
Jason Wen	90a1ff46b4	Merge branch 'master-new' into mads-new # Conflicts: # cereal/car.capnp # cereal/car.capnp~HEAD # opendbc_repo # panda	2024-11-11 08:23:13 -05:00
DevTekVE	c05191949a	Updating submodules	2024-11-02 19:15:58 +01:00
Jason Wen	9d5ea83f5a	Add Custom MIT License (#438 )	2024-11-02 18:53:31 +01:00
Jason Wen	6a74dc253b	typo!	2024-09-30 22:47:24 -04:00
Jason Wen	434a89d83e	move to card	2024-09-30 18:51:36 -04:00
Jason Wen	20e6dc4246	hkg dbc	2024-09-30 17:03:50 -04:00
Jason Wen	96b5b7caeb	more fix	2024-09-30 16:58:25 -04:00
Jason Wen	85cdce477e	fix typo	2024-09-30 16:42:59 -04:00
Jason Wen	cc06b0271c	fix typo	2024-09-30 16:40:13 -04:00
Jason Wen	e67833ae7d	add events	2024-09-30 16:37:11 -04:00
Jason Wen	42e3061748	Merge branch 'master' into mads-new	2024-09-30 16:31:52 -04:00
Jason Wen	738484e628	some cleanup	2024-09-30 16:28:18 -04:00
Jason Wen	519ab8ec3e	traditional state machine with tests	2024-09-30 16:18:59 -04:00
Jason Wen	00bc34b125	test	2024-09-30 15:33:44 -04:00
Jason Wen	ff87abb45b	comments	2024-09-30 11:04:56 -04:00
Jason Wen	000bb1b5b3	explicit	2024-09-30 10:56:30 -04:00
Jason Wen	7c95b43e1a	should append	2024-09-30 10:45:00 -04:00
Jason Wen	9570a9240f	fix type hint	2024-09-30 10:42:57 -04:00
Jason Wen	676702ae3c	fixes	2024-09-29 22:43:18 -04:00
Jason Wen	c27b112bbc	misra	2024-09-29 12:27:50 -04:00
Jason Wen	0a1a878897	Merge branch 'master' into mads-new # Conflicts: # opendbc_repo # panda	2024-09-29 12:11:54 -04:00
Jason Wen	3a593f85dc	more	2024-09-29 12:00:46 -04:00
Jason Wen	6db0d94b83	cleanup	2024-09-29 11:58:38 -04:00
Jason Wen	66b900aea6	clearer	2024-09-29 11:55:36 -04:00
Jason Wen	9c57f6bad0	not really	2024-09-29 11:45:47 -04:00
Jason Wen	1b64a7debd	move around	2024-09-29 11:30:39 -04:00
Jason Wen	bd19439a4c	move around	2024-09-29 11:28:27 -04:00
Jason Wen	18a237c0c0	more update	2024-09-29 11:25:19 -04:00
Jason Wen	dd5ff7e1d3	fix	2024-09-29 11:20:30 -04:00
Jason Wen	515c00c379	fix	2024-09-20 00:01:41 -04:00
Jason Wen	7dc4073c9b	safety init	2024-09-19 00:46:26 -04:00
Jason Wen	a9c775bffe	no need	2024-09-18 09:01:13 -04:00
Jason Wen	c06d8db015	alternative experience	2024-09-18 08:57:58 -04:00
Jason Wen	8bb6c8fc17	some more infra	2024-09-18 08:22:13 -04:00
Jason Wen	d58be609ac	more infra	2024-09-18 07:33:23 -04:00
Jason Wen	434fab00f3	more	2024-09-18 07:15:51 -04:00
Jason Wen	8e62914e69	Modified Assist Driving System: init	2024-09-18 07:15:51 -04:00