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FCA: S20 init
ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 )
2026-09-16 10:43:42 +08:00 · 2024-11-21 10:40:58 -05:00 · 2024-11-21 10:18:40 -05:00 · 2024-11-17 09:49:37 +01:00 · 2024-11-16 22:27:29 -05:00 · 2024-11-16 23:45:12 +01:00
163 changed files with 2959 additions and 3995 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:
@@ -24,7 +24,7 @@ jobs:
    # Check PR target branch
    - name: check branch
      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
@@ -37,17 +37,17 @@ jobs:
    # Welcome comment
    - name: "First timers PR"
      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
      with:
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        pr-message: |
            <!-- _(run_id **${{ github.run_id }}**)_ -->
            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
            * Before marking as "ready for review", ensure:
              * the goal is clearly stated in the description
              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
              * include a route or your device' dongle ID if relevant
-      
+
@@ -13,7 +13,7 @@ jobs:
  badges:
    name: create badges
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      contents: write
    steps:
@@ -29,7 +29,7 @@ jobs:

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

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

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

@@ -12,6 +12,10 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: sunnypilot/sunnypilot/.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
@@ -35,13 +34,13 @@ jobs:

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

@@ -12,7 +12,7 @@ jobs:
  build_prebuilt:
    name: build prebuilt
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    env:
      PUSH_IMAGE: true
    permissions:
@@ -13,7 +13,7 @@ jobs:
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      checks: read
      contents: write
@@ -11,7 +11,7 @@ jobs:
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
      with:
@@ -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
@@ -4,6 +4,7 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,10 +15,11 @@ on:
        type: string

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

 env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
  PYTHONWARNINGS: error
  BASE_IMAGE: openpilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -31,10 +33,11 @@ env:

 jobs:
  build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (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: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
@@ -52,7 +55,7 @@ jobs:
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: release/check-submodules.sh
    - name: Build openpilot and run checks
@@ -75,9 +78,15 @@ 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: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
+                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
+                   'ubuntu-latest'}}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -86,14 +95,20 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$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:
+    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
    name: build macOS
-    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -102,6 +117,7 @@ jobs:
      uses: ./.github/workflows/auto-cache
      with:
        path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
@@ -113,14 +129,32 @@ jobs:
      uses: ./.github/workflows/auto-cache
      with:
        path: /tmp/scons_cache
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(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 +168,24 @@ 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 +203,27 @@ 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 +258,9 @@ 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: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    strategy:
      fail-fast: false
      matrix:
@@ -227,17 +271,17 @@ jobs:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
+      id: dependency-cache
+      uses: ./.github/workflows/auto-cache
      with:
        path: .ci_cache/comma_download_cache
        key: car_models-${{ 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 +350,9 @@ 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 +371,9 @@ 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: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -353,5 +397,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -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
@@ -20,7 +20,7 @@ jobs:
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
@@ -0,0 +1,55 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+      - master-new
+  pull_request:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+concurrency:
+  group: tools-tests-ci-run-${{ 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
@@ -3,23 +3,25 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
      - 'master'
+      - 'master-new'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

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

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

      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -106,13 +108,13 @@ jobs:
              DIFF="${DIFF}<table>"

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

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

              DIFF="${DIFF}</table>"
@@ -125,7 +127,7 @@ jobs:
            if [[ $INDEX -eq 0 ]]; then
              TABLE="${TABLE}<tr>"
            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
              TABLE="${TABLE}</tr>"
            fi
@@ -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',
@@ -486,9 +486,6 @@ 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;
@@ -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"
@@ -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},
@@ -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
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

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

 function run() {
@@ -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
@@ -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:
@@ -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.");
  }
@@ -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)
@@ -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
+dd0a40182707975c94a40d19198cd60c88735199
@@ -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;
@@ -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,
@@ -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,
@@ -4,9 +4,9 @@

 #define BIT_DEPTH 12
 #define PV_MAX10 1023
-#define PV_MAX12 4095
+#define PV_MAX12 4096
 #define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
+#define BLACK_LVL 64
 #define VIGNETTE_RSZ 2.2545f

 float combine_dual_pvs(float lv, float sv, int expo_time) {
@@ -42,21 +42,21 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3691, 0x0d},
  {0x3696, 0x4c},
  {0x3697, 0x4c},
-  {0x3698, 0x00},
+  {0x3698, 0x40},
  {0x3699, 0x80},
-  {0x369a, 0x80},
+  {0x369a, 0x18},
  {0x369b, 0x1f},
-  {0x369c, 0x1f},
+  {0x369c, 0x14},
  {0x369d, 0x80},
  {0x369e, 0x40},
  {0x369f, 0x21},
  {0x36a0, 0x12},
-  {0x36a1, 0xdd},
+  {0x36a1, 0x5d},
  {0x36a2, 0x66},
  {0x370a, 0x02},
-  {0x370e, 0x00},
+  {0x370e, 0x0c},
  {0x3710, 0x00},
-  {0x3713, 0x04},
+  {0x3713, 0x00},
  {0x3725, 0x02},
  {0x372a, 0x03},
  {0x3738, 0xce},
@@ -81,11 +81,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x37ba, 0x03},
  {0x37bb, 0x00},
  {0x37bc, 0x04},
-  {0x37be, 0x26},
+  {0x37be, 0x08},
  {0x37c4, 0x11},
  {0x37c5, 0x80},
  {0x37c6, 0x14},
-  {0x37c7, 0xa8},
+  {0x37c7, 0x08},
  {0x37da, 0x11},
  {0x381f, 0x08},
  // {0x3829, 0x03},
@@ -186,10 +186,10 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3661, 0x04},
  {0x3664, 0x70},
  {0x3665, 0x00},
-  {0x3681, 0x80},
-  {0x3682, 0x40},
-  {0x3683, 0x21},
-  {0x3684, 0x12},
+  {0x3681, 0xa6},
+  {0x3682, 0x53},
+  {0x3683, 0x2a},
+  {0x3684, 0x15},
  {0x3700, 0x2a},
  {0x3701, 0x12},
  {0x3703, 0x28},
@@ -198,7 +198,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3709, 0x4a},
  {0x370b, 0x48},
  {0x370c, 0x01},
-  {0x370f, 0x00},
+  {0x370f, 0x04},
  {0x3714, 0x28},
  {0x3716, 0x04},
  {0x3719, 0x11},
@@ -278,12 +278,12 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3816, 0x03},
  {0x3817, 0x01},

-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS

  {0x3820, 0xb3},
  {0x3821, 0x01},
-  {0x3880, 0x00},
+  {0x3880, 0x25},
  {0x3882, 0x20},
  {0x3c91, 0x0b},
  {0x3c94, 0x45},
@@ -291,7 +291,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3cae, 0x00},
  {0x4000, 0xf3},
  {0x4001, 0x60},
-  {0x4003, 0x40},
+  {0x4003, 0x80},
  {0x4300, 0xff},
  {0x4302, 0x0f},
  {0x4305, 0x83},
@@ -307,6 +307,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  // {0x0100, 0x01},
  // {0x320d, 0x00},
  // {0x3208, 0xa0},
+  {0x3822, 0x14},

  // initialize exposure
  {0x3503, 0x88},
@@ -43,7 +43,6 @@ public:
  float dc_gain_on_grey;
  float dc_gain_off_grey;

-  float ev_scale = 1.0;
  float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
  int analog_gain_min_idx;
  int analog_gain_max_idx;
@@ -1,12 +1,12 @@
 import pytest
 import time
 import numpy as np
+from flaky import flaky
 from collections import defaultdict

 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes

 TEST_TIMESPAN = 10
@@ -17,46 +17,44 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,

 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')

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

  def test_frame_skips(self):
    skips = {}
@@ -1,14 +1,12 @@
 import time
 import numpy as np
-import pytest

-from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.helpers import with_processes, phone_only
 from openpilot.system.camerad.snapshot.snapshot import get_snapshots

 TEST_TIME = 45
 REPEAT = 5

-@pytest.mark.tici
 class TestCamerad:
  @classmethod
  def setup_class(cls):
@@ -30,6 +28,7 @@ class TestCamerad:
    print([i_median, i_mean])
    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]

+  @phone_only
  @with_processes(['camerad'])
  def test_camera_operation(self):
    passed = 0
@@ -1,54 +1,11 @@
-import os
 from abc import abstractmethod, ABC
-from dataclasses import dataclass, fields
+from collections import namedtuple

 from cereal import log

+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic'])
 NetworkType = log.DeviceState.NetworkType

-@dataclass
-class ThermalZone:
-  # a zone from /sys/class/thermal/thermal_zone*
-  name: str             # a.k.a type
-  scale: float = 1000.  # scale to get degrees in C
-  zone_number = -1
-
-  def read(self) -> float:
-    if self.zone_number < 0:
-      for n in os.listdir("/sys/devices/virtual/thermal"):
-        if not n.startswith("thermal_zone"):
-          continue
-        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-          if f.read().strip() == self.name:
-            self.zone_number = int(n.removeprefix("thermal_zone"))
-            break
-
-    try:
-      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
-        return int(f.read()) / self.scale
-    except FileNotFoundError:
-      return 0
-
-@dataclass
-class ThermalConfig:
-  cpu: list[ThermalZone] | None = None
-  gpu: list[ThermalZone] | None = None
-  pmic: list[ThermalZone] | None = None
-  memory: ThermalZone | None = None
-  intake: ThermalZone | None = None
-  exhaust: ThermalZone | None = None
-  case: ThermalZone | None = None
-
-  def get_msg(self):
-    ret = {}
-    for f in fields(ThermalConfig):
-      v = getattr(self, f.name)
-      if v is not None:
-        if isinstance(v, list):
-          ret[f.name + "TempC"] = [x.read() for x in v]
-        else:
-          ret[f.name + "TempC"] = v.read()
-    return ret

 class HardwareBase(ABC):
  @staticmethod
@@ -127,8 +84,9 @@ class HardwareBase(ABC):
  def shutdown(self):
    pass

+  @abstractmethod
  def get_thermal_config(self):
-    return ThermalConfig()
+    pass

  @abstractmethod
  def set_screen_brightness(self, percentage):
@@ -149,6 +107,9 @@ class HardwareBase(ABC):
  def get_modem_version(self):
    return None

+  def get_modem_nv(self):
+    return None
+
  @abstractmethod
  def get_modem_temperatures(self):
    pass
@@ -51,6 +51,39 @@ OFFROAD_DANGER_TEMP = 75

 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}

+tz_by_type: dict[str, int] | None = None
+def populate_tz_by_type():
+  global tz_by_type
+  tz_by_type = {}
+  for n in os.listdir("/sys/devices/virtual/thermal"):
+    if not n.startswith("thermal_zone"):
+      continue
+    with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
+      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
+
+def read_tz(x):
+  if x is None:
+    return 0
+
+  if isinstance(x, str):
+    if tz_by_type is None:
+      populate_tz_by_type()
+    x = tz_by_type[x]
+
+  try:
+    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
+      return int(f.read())
+  except FileNotFoundError:
+    return 0
+
+
+def read_thermal(thermal_config):
+  dat = messaging.new_message('deviceState', valid=True)
+  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
+  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
+  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
+  dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
+  return dat


 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
@@ -66,6 +99,7 @@ def hw_state_thread(end_event, hw_queue):
  prev_hw_state = None

  modem_version = None
+  modem_nv = None
  modem_configured = False
  modem_restarted = False
  modem_missing_count = 0
@@ -80,11 +114,12 @@ def hw_state_thread(end_event, hw_queue):
          modem_temps = prev_hw_state.modem_temps

        # Log modem version once
-        if AGNOS and (modem_version is None):
+        if AGNOS and ((modem_version is None) or (modem_nv is None)):
          modem_version = HARDWARE.get_modem_version()
+          modem_nv = HARDWARE.get_modem_nv()

-          if modem_version is not None:
-            cloudlog.event("modem version", version=modem_version)
+          if (modem_version is not None) and (modem_nv is not None):
+            cloudlog.event("modem version", version=modem_version, nv=modem_nv)
          else:
            if not modem_restarted:
              # TODO: we may be able to remove this with a MM update
@@ -199,8 +234,7 @@ def hardware_thread(end_event, hw_queue) -> None:
    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
      continue

-    msg = messaging.new_message('deviceState', valid=True)
-    msg.deviceState = thermal_config.get_msg()
+    msg = read_thermal(thermal_config)
    msg.deviceState.deviceType = HARDWARE.get_device_type()

    try:
@@ -230,13 +264,13 @@ def hardware_thread(end_event, hw_queue) -> None:
    # this subset is only used for offroad
    temp_sources = [
      msg.deviceState.memoryTempC,
-      max(msg.deviceState.cpuTempC, default=0.),
-      max(msg.deviceState.gpuTempC, default=0.),
+      max(msg.deviceState.cpuTempC),
+      max(msg.deviceState.gpuTempC),
    ]
    offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))

    # this drives the thermal status while onroad
-    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
+    temp_sources.append(max(msg.deviceState.pmicTempC))
    all_comp_temp = all_temp_filter.update(max(temp_sources))
    msg.deviceState.maxTempC = all_comp_temp

@@ -47,12 +47,4 @@ namespace Path {
    }
    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
  }
-
- inline std::string shm_path() {
-    #ifdef __APPLE__
-     return"/tmp";
-    #else
-     return "/dev/shm";
-    #endif
- }
 }  // namespace Path
@@ -1,5 +1,4 @@
 import os
-import platform
 from pathlib import Path

 from openpilot.system.hardware import PC
@@ -57,9 +56,3 @@ class Paths:
      return Paths.comma_home()
    else:
      return "/tmp/.comma"
-
-  @staticmethod
-  def shm_path() -> str:
-    if PC and platform.system() == "Darwin":
-      return "/tmp"  # This is not really shared memory on macOS, but it's the closest we can get
-    return "/dev/shm"
@@ -1,7 +1,7 @@
 import random

 from cereal import log
-from openpilot.system.hardware.base import HardwareBase
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig

 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -21,7 +21,7 @@ class Pc(HardwareBase):
    print("uninstall")

  def get_imei(self, slot):
-    return f"{random.randint(0, 1 << 32):015d}"
+    return "%015d" % random.randint(0, 1 << 32)

  def get_serial(self):
    return "cccccccc"
@@ -53,6 +53,9 @@ class Pc(HardwareBase):
  def shutdown(self):
    print("SHUTDOWN!")

+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1))
+
  def set_screen_brightness(self, percentage):
    pass

@@ -1,19 +1,19 @@
 [
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
-    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
-    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
-    "size": 16418816,
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
+    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
+    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
+    "size": 16414720,
    "sparse": false,
    "full_check": true,
    "has_ab": true
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
-    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
-    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
+    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
    "size": 4404019200,
    "sparse": false,
    "full_check": false,
@@ -21,9 +21,9 @@
  },
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
-    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
-    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz",
+    "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
    "size": 3282256,
    "sparse": false,
    "full_check": true,
@@ -41,9 +41,9 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
-    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
-    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz",
+    "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
+    "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
    "size": 98124,
    "sparse": false,
    "full_check": true,
@@ -51,9 +51,9 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
-    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
-    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz",
+    "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
+    "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
    "size": 40336,
    "sparse": false,
    "full_check": true,
@@ -61,9 +61,9 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
-    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
-    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4.img.xz",
+    "hash": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
+    "hash_raw": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
    "size": 184364,
    "sparse": false,
    "full_check": true,
@@ -10,7 +10,7 @@ from pathlib import Path

 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig
 from openpilot.system.hardware.tici import iwlist
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -294,6 +294,19 @@ class Tici(HardwareBase):
    except Exception:
      return None

+  def get_modem_nv(self):
+    timeout = 0.2  # Default timeout is too short
+    files = (
+      '/nv/item_files/modem/mmode/ue_usage_setting',
+      '/nv/item_files/ims/IMS_enable',
+      '/nv/item_files/modem/mmode/sms_only',
+    )
+    try:
+      modem = self.get_modem()
+      return { fn: str(modem.Command(f'AT+QNVFR="{fn}"', math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)) for fn in files}
+    except Exception:
+      return None
+
  def get_modem_temperatures(self):
    timeout = 0.2  # Default timeout is too short
    try:
@@ -323,19 +336,12 @@ class Tici(HardwareBase):
    os.system("sudo poweroff")

  def get_thermal_config(self):
-    intake, exhaust, case = None, None, None
-    if self.get_device_type() == "mici":
-      case = ThermalZone("case")
-      intake = ThermalZone("intake")
-      exhaust = ThermalZone("exhaust")
-    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
-                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
-                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
-                         memory=ThermalZone("ddr-usr"),
-                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
-                         intake=intake,
-                         exhaust=exhaust,
-                         case=case)
+    return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
+                              ["cpu%d-gold-usr" % i for i in range(4)], 1000),
+                         gpu=(("gpu0-usr", "gpu1-usr"), 1000),
+                         mem=("ddr-usr", 1000),
+                         bat=(None, 1),
+                         pmic=(("pm8998_tz", "pm8005_tz"), 1000))

  def set_screen_brightness(self, percentage):
    try:
@@ -459,24 +465,7 @@ class Tici(HardwareBase):
      manufacturer = None

    cmds = []
-
-    if self.get_device_type() in ("tici", "tizi"):
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
-
-      cmds += [
-        # configure modem as data-centric
-        'AT+QNVW=5280,0,"0102000000000000"',
-        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-      ]
-      if self.get_device_type() == "tizi":
-        # SIM hot swap, not routed on tici
-        cmds += [
-          'AT+QSIMDET=1,0',
-          'AT+QSIMSTAT=1',
-        ]
-    elif manufacturer == 'Cavli Inc.':
+    if manufacturer == 'Cavli Inc.':
      cmds += [
        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
        'AT$QCSIMSLEEP=0',  # disable SIM sleep
@@ -487,17 +476,21 @@ class Tici(HardwareBase):
        'AT$QCNETDEVCTL=3,1',
      ]
    else:
-      # this modem gets upset with too many AT commands
-      if sim_id is None or len(sim_id) == 0:
+      cmds += [
+        # configure modem as data-centric
+        'AT+QNVW=5280,0,"0102000000000000"',
+        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+      ]
+      if self.get_device_type() == "tizi":
        cmds += [
-          # SIM sleep disable
-          'AT$QCSIMSLEEP=0',
-          'AT$QCSIMCFG=SimPowerSave,0',
-
-          # ethernet config
-          'AT$QCPCFG=usbNet,1',
+          # SIM hot swap
+          'AT+QSIMDET=1,0',
+          'AT+QSIMSTAT=1',
        ]

+      # clear out old blue prime initial APN
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
    for cmd in cmds:
      try:
        modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
@@ -595,4 +588,3 @@ if __name__ == "__main__":
  t.configure_modem()
  t.initialize_hardware()
  t.set_power_save(False)
-  print(t.get_sim_info())
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jason Wen	b24e762592	more	2024-11-21 10:40:58 -05:00
Jason Wen	ed8812e730	FCA: S20 init	2024-11-21 10:18:40 -05:00
DevTekVE	36f8192612	ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 ) Fixes the GitHub action that was failing when the pipeline was running as a result of a push to master-new because it was not properly recognized as "master"	2024-11-17 09:49:37 +01:00
DevTekVE	4b66cd0577	ci: fix repo permissions in ui preview (#450 ) * more fix * forcing a change on UI to test * undo ui change for test * temp add branch * adding more ways to set the master uo * more bruteforce * undoing force	2024-11-16 22:27:29 -05:00
DevTekVE	ad742515f1	ci: sunnypilot show UI diff on PRs (#449 ) add master-new as well to the triggers for the diff ui	2024-11-16 23:45:12 +01:00
Jason Wen	2426354d72	bump opendbc (#448 ) * bump opendbc * Bump opendbc to our changed car params * New Int16 test * spFlags * original name? * Testing more carparams combinations * Another crazy idea * typo * use this field * bump * bump opendbc --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2024-11-16 17:04:12 -05:00
DevTekVE	cf55992c26	CI: sunnypilot configuration (#447 ) * initial updates to the actions to run for sp * ignore license file * more updates * undoing some of the changes because I was blocking the runs on * allowing the submodule check as well * Allowing macos builds * test adding cache key * don't attempt build_release for selfdrive for the time being. * Blocking macos builds as well since they have a 10x miltiplier for GH aciton minutes, waaaay too much! * lol nice typo codespell * change ref commit id to check if replay passes	2024-11-16 10:24:47 -05:00
DevTekVE	3da0dfd47f	Updating submodules	2024-11-15 08:16:52 +01:00
Jason Wen	6edaf619bf	Add Custom MIT License (#438 )	2024-11-15 08:11:51 +01:00