Tools: Update setup command for macOS native setup

2026-06-12 02:54:55 +08:00 · 2024-12-10 21:01:31 -05:00
68 changed files with 409 additions and 865 deletions
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -18,7 +18,7 @@ concurrency:
 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
    steps:
    - uses: commaai/timeout@v1

--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -231,7 +231,7 @@ jobs:
      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
+        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
@@ -309,7 +309,6 @@ jobs:
    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' }}
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
    steps:
    - uses: actions/checkout@v4
      with:
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,9 +1,9 @@
 FROM ghcr.io/commaai/openpilot-base:latest

-ENV PYTHONUNBUFFERED=1
+ENV PYTHONUNBUFFERED 1

-ENV OPENPILOT_PATH=/home/batman/openpilot
-ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
+ENV OPENPILOT_PATH /home/batman/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}

 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,6 +1,6 @@
 FROM ubuntu:24.04

-ENV PYTHONUNBUFFERED=1
+ENV PYTHONUNBUFFERED 1

 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
@@ -8,9 +8,9 @@ RUN apt-get update && \
    rm -rf /var/lib/apt/lists/*

 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8

 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN /tmp/tools/install_ubuntu_dependencies.sh && \
@@ -55,9 +55,9 @@ RUN mkdir -p /tmp/opencl-driver-intel && \
    cd / && \
    rm -rf /tmp/opencl-driver-intel

-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1

 RUN dbus-uuidgen > /etc/machine-id

--- a/README.md
+++ b/README.md
@@ -38,8 +38,7 @@ Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
  </tr>
 </table>

-
-Using openpilot in a car
+To start using openpilot in a car
 ------

 To use openpilot in a car, you need four things:
@@ -50,14 +49,6 @@ To use openpilot in a car, you need four things:

 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

-### Branches
-| branch           | URL                                    | description                                                                         |
-|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
-| `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
-| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
-| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
-| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
-
 To start developing openpilot
 ------

--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2440,14 +2440,6 @@ struct Microphone {
  filteredSoundPressureWeightedDb @2 :Float32;
 }

-struct Touch {
-  sec @0 :Int64;
-  usec @1 :Int64;
-  type @2 :UInt8;
-  code @3 :Int32;
-  value @4 :Int32;
-}
-
 struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;
@@ -2528,9 +2520,6 @@ struct Event {
    logMessage @18 :Text;
    errorLogMessage @85 :Text;

-    # touch frame
-    touch @135 :List(Touch);
-
    # navigation
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -22,7 +22,6 @@ _services: dict[str, tuple] = {
  "temperatureSensor2": (True, 2., 200),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10),
  "selfdriveState": (True, 100., 10),
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,7 +1,7 @@
 import numpy as np

 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame

 # segnet
 SEGNET_SIZE = (512, 384)
@@ -39,13 +39,6 @@ sbigmodel_intrinsics = np.array([
  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
  [0.0,  0.0,                                     1.0]])

-DM_INPUT_SIZE = (1440, 960)
-dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
-dmonitoringmodel_intrinsics = np.array([
-  [dmonitoringmodel_fl,  0.0, DM_INPUT_SIZE[0]/2],
-  [0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
-  [0.0,  0.0, 1.0]])
-
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -103,7 +103,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B 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=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R 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=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I 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=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/docs/css/tooltip.css
+++ b/docs/css/tooltip.css
@@ -1,44 +0,0 @@
-[data-tooltip] {
-  position: relative;
-  display: inline-block;
-  border-bottom: 1px dotted black;
-}
-
-[data-tooltip] .tooltip-content {
-  width: max-content;
-  max-width: 25em;
-  position: absolute;
-  top: 100%;
-  left: 50%;
-  transform: translateX(-50%);
-  background-color: white;
-  color: #404040;
-  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
-  padding: 10px;
-  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
-  text-decoration: none;
-  opacity: 0;
-  visibility: hidden;
-  transition: opacity 0.1s, visibility 0s;
-  z-index: 1000;
-  pointer-events: none; /* Prevent accidental interaction */
-}
-
-[data-tooltip]:hover .tooltip-content {
-  opacity: 1;
-  visibility: visible;
-  pointer-events: auto; /* Allow interaction when visible */
-}
-
-.tooltip-content .tooltip-glossary-link {
-  display: inline-block;
-  margin-top: 8px;
-  font-size: 12px;
-  color: #007bff;
-  text-decoration: none;
-}
-
-.tooltip-content .tooltip-glossary-link:hover {
-  color: #0056b3;
-  text-decoration: underline;
-}
--- a/docs/glossary.toml
+++ b/docs/glossary.toml
--- a/docs/hooks/glossary.py
+++ b/docs/hooks/glossary.py
@@ -1,68 +0,0 @@
-import re
-import tomllib
-
-def load_glossary(file_path="docs/glossary.toml"):
-  with open(file_path, "rb") as f:
-    glossary_data = tomllib.load(f)
-  return glossary_data.get("glossary", {})
-
-def generate_anchor_id(name):
-  return name.replace(" ", "-").replace("_", "-").lower()
-
-def format_markdown_term(name, definition):
-  anchor_id = generate_anchor_id(name)
-  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
-  if definition.get("abbreviation"):
-    markdown += f" *({definition['abbreviation']})*"
-  if definition.get("description"):
-    markdown += f": {definition['description']}\n"
-  return markdown
-
-def glossary_markdown(vocabulary):
-  markdown = ""
-  for category, terms in vocabulary.items():
-    markdown += f"## {category.replace('_', ' ').title()}\n\n"
-    for name, definition in terms.items():
-      markdown += format_markdown_term(name, definition)
-  return markdown
-
-def format_tooltip_html(term_key, definition, html):
-  display_term = term_key.replace("_", " ").title()
-  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
-  glossary_link = (
-    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
-  )
-  return re.sub(
-    re.escape(display_term),
-    lambda
-    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def apply_tooltip(_term_key, _definition, pattern, html):
-  return re.sub(
-    pattern,
-    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def tooltip_html(vocabulary, html):
-  for _category, terms in vocabulary.items():
-    for term_key, definition in terms.items():
-      if definition.get("description"):
-        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
-        html = apply_tooltip(term_key, definition, pattern, html)
-  return html
-
-# Page Hooks
-def on_page_markdown(markdown, **kwargs):
-  glossary = load_glossary()
-  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
-
-def on_page_content(html, **kwargs):
-  if kwargs.get("page").title == "Glossary":
-    return html
-  glossary = load_glossary()
-  return tooltip_html(glossary, html)
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.4"
+  export AGNOS_VERSION="11.3"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -8,10 +8,6 @@ strict: true
 docs_dir: docs
 site_dir: docs_site/

-hooks:
-  - docs/hooks/glossary.py
-extra_css:
-  - css/tooltip.css
 theme:
  name: readthedocs
  navigation_depth: 3
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -148,8 +148,7 @@ class CarSpecificEvents:
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))

      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -5,15 +5,12 @@ from openpilot.common.realtime import DT_CTRL
 MIN_SPEED = 1.0
 CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
-# This is a turn radius smaller than most cars can achieve
-MAX_CURVATURE = 0.2

 # EU guidelines
 MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0

 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
  v_ego = max(MIN_SPEED, v_ego)
  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
  safe_desired_curvature = clip(new_curvature,
--- a/selfdrive/debug/touch_replay.py
+++ b/selfdrive/debug/touch_replay.py
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-
-import numpy as np
-import matplotlib.pyplot as plt
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser()
-  parser.add_argument('--width', default=2160, type=int)
-  parser.add_argument('--height', default=1080, type=int)
-  parser.add_argument('--route', default='rlog', type=str)
-  args = parser.parse_args()
-
-  w = args.width
-  h = args.height
-  route = args.route
-
-  fingers = [[-1, -1]] * 5
-  touch_points = []
-  current_slot = 0
-
-  lr = list(LogReader(route))
-  for msg in lr:
-    if msg.which() == 'touch':
-      for event in msg.touch:
-        if event.type == 3 and event.code == 47:
-          current_slot = event.value
-        elif event.type == 3 and event.code == 57 and event.value == -1:
-          fingers[current_slot] = [-1, -1]
-        elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = h - (h - event.value)
-          if fingers[current_slot][0] != -1:
-            touch_points.append(fingers[current_slot].copy())
-        elif event.type == 3 and event.code == 54:
-          fingers[current_slot][0] = w - event.value
-          if fingers[current_slot][1] != -1:
-            touch_points.append(fingers[current_slot].copy())
-
-  if not touch_points:
-    print(f'No touch events found for {route}')
-    quit()
-
-  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
-
-  plt.figure(figsize=(10, 3))
-  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
-  plt.colorbar()
-  plt.title(f'Touches for {route}')
-  plt.xlim(0, w)
-  plt.ylim(0, h)
-  plt.grid(True)
-  plt.show()
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -13,13 +13,13 @@ from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid

 CALIB_LEN = 3
+MODEL_WIDTH = 1440
+MODEL_HEIGHT = 960
 FEATURE_LEN = 512
 OUTPUT_SIZE = 84 + FEATURE_LEN

@@ -62,21 +62,25 @@ class ModelState:

  def __init__(self, cl_ctx):
    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-
-    self.frame = MonitoringModelFrame(cl_ctx)
    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
    self.inputs = {
+      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}

    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx)
    self.model.addInput("input_img", None)
    self.model.addInput("calib", self.inputs['calib'])

-  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
    self.inputs['calib'][:] = calib

-    self.model.setInputBuffer("input_img", self.frame.prepare(buf, transform.flatten(), None).view(np.float32))
+    v_offset = buf.height - MODEL_HEIGHT
+    h_offset = (buf.width - MODEL_WIDTH) // 2
+    buf_data = buf.data.reshape(-1, buf.stride)
+    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
+    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]

+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
    t1 = time.perf_counter()
    self.model.execute()
    t2 = time.perf_counter()
@@ -133,23 +137,18 @@ def main():
  pm = PubMaster(["driverStateV2"])

  calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  model_transform = None

  while True:
    buf = vipc_client.recv()
    if buf is None:
      continue

-    if model_transform is None:
-      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
-      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
-
    sm.update(0)
    if sm.updated["liveCalibration"]:
      calib[:] = np.array(sm["liveCalibration"].rpyCalib)

    t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
+    model_output, gpu_execution_time = model.run(buf, calib)
    t2 = time.perf_counter()

    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,22 +3,11 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

 ConfidenceClass = log.ModelDataV2.ConfidenceClass

-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2*curv_from_psi - psi_rate / vego
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
 class PublishState:
  def __init__(self):
    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -66,17 +55,14 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
  builder.rightProb = lane_line_probs[2]

 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
-                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
-                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool) -> None:
+                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
+                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
  frame_drop_perc = frame_drop * 100
  extended_msg.valid = valid
  base_msg.valid = valid

-  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
-
  driving_model_data = base_msg.drivingModelData

  driving_model_data.frameId = vipc_frame_id
@@ -85,7 +71,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.modelExecutionTime = model_execution_time

  action = driving_model_data.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -120,7 +106,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D

  # lateral planning
  action = modelV2.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])

  # times at X_IDXS according to model plan
  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -12,8 +12,6 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.numpy_fast import interp
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
@@ -24,7 +22,7 @@ from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext

 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -46,30 +44,33 @@ class FrameMeta:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

 class ModelState:
-  frame: DrivingModelFrame
-  wide_frame: DrivingModelFrame
+  frame: ModelFrame
+  wide_frame: ModelFrame
  inputs: dict[str, np.ndarray]
  output: np.ndarray
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
  model: ModelRunner

  def __init__(self, context: CLContext):
-    self.frame = DrivingModelFrame(context)
-    self.wide_frame = DrivingModelFrame(context)
+    self.frame = ModelFrame(context)
+    self.wide_frame = ModelFrame(context)
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)

    # img buffers are managed in openCL transform code
-    self.inputs = {}
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
+    }

    with open(METADATA_PATH, 'rb') as f:
      model_metadata = pickle.load(f)

-    for key, shape in model_metadata['input_shapes'].items():
-      if key not in ["input_imgs", "big_input_imgs"]:
-        self.inputs[key] = np.zeros(shape, dtype=np.float32).flatten()
-
    self.output_slices = model_metadata['output_slices']
    net_output_size = model_metadata['output_shapes']['outputs'][1]
    self.output = np.zeros(net_output_size, dtype=np.float32)
@@ -81,14 +82,6 @@ class ModelState:
    for k,v in self.inputs.items():
      self.model.addInput(k, v)

-    num_elements = model_metadata['input_shapes']['features_buffer'][1]
-    step_size = int(-100 / num_elements)
-    self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-
-    desired_shape = int(self.inputs['desire'].shape[0] / self.desire_20Hz.shape[1])
-    middle_dim = int(self.desire_20Hz.shape[0] / desired_shape)
-    self.desire_reshape_dims = (desired_shape, middle_dim, -1)
-
  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
    if SEND_RAW_PRED:
@@ -104,9 +97,10 @@ class ModelState:

    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
    self.desire_20Hz[-1] = new_desire
-    self.inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=1).flatten()
+    self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()

    self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']

    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
    self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
@@ -120,25 +114,13 @@ class ModelState:
    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]

-    # idxs = np.arange(-4,-100,-4)[::-1]
-    self.inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs].flatten()
+    self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
+    self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]

-    if "lat_planner_solution" in outputs:
-      if "lat_planner_state" in self.inputs.keys():
-        self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
-        self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
-
-    if "desired_curvature" in outputs:
-      input_name_prev = None
-      if "prev_desired_curvs" in self.inputs.keys():
-        input_name_prev = 'prev_desired_curvs'
-      elif "prev_desired_curv" in self.inputs.keys():
-        input_name_prev = 'prev_desired_curv'
-
-      if input_name_prev is not None:
-        len = outputs['desired_curvature'][0].size
-        self.inputs[input_name_prev][:-len] = self.inputs[input_name_prev][len:]
-        self.inputs[input_name_prev][-len:] = outputs['desired_curvature'][0, :len]
+    idxs = np.arange(-4,-100,-4)[::-1]
+    self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
+    # TODO model only uses last value now, once that changes we need to input strided action history buffer
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
    return outputs


@@ -249,6 +231,7 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -279,20 +262,9 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
      }

-    if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
-
-    if "driving_style" in model.inputs.keys():
-      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
-
-    if "nav_features" in model.inputs.keys():
-      inputs['nav_features'] = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)  # Get size from shape
-
-    if "nav_instructions" in model.inputs.keys():
-      inputs['nav_instructions'] = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)  # Get size from shape
-
    mt1 = time.perf_counter()
    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
    mt2 = time.perf_counter()
@@ -302,8 +274,7 @@ def main(demo=False):
      modelv2_send = messaging.new_message('modelV2')
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
-                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)

      desire_state = modelv2_send.modelV2.meta.desireState
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,30 +1,36 @@
 #include "selfdrive/modeld/models/commonmodel.h"

+#include <cassert>
 #include <cmath>
 #include <cstring>

 #include "common/clutil.h"

-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<float[]>(buf_size);
-  //input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
+
+  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
+  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
+  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
  region.origin = 4 * frame_size_bytes;
  region.size = frame_size_bytes;
  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));

+  transform_init(&transform, context, device_id);
  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
 }

-float* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+  transform_queue(&this->transform, q,
+                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);

  for (int i = 0; i < 4; i++) {
    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
  }
  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
  if (output == NULL) {
    CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
    CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
@@ -40,30 +46,13 @@ float* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_heig
  }
 }

-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
+ModelFrame::~ModelFrame() {
+  transform_destroy(&transform);
  loadyuv_destroy(&loadyuv);
  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
  CL_CHECK(clReleaseMemObject(last_img_cl));
+  CL_CHECK(clReleaseMemObject(v_cl));
+  CL_CHECK(clReleaseMemObject(u_cl));
+  CL_CHECK(clReleaseMemObject(y_cl));
  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<float[]>(buf_size);
-  //input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-float* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  CL_CHECK(clEnqueueReadBuffer(q, y_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), input_frames.get(), 0, nullptr, nullptr));
-  clFinish(q);
-  //return &y_cl;
-  return input_frames.get();
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseCommandQueue(q));
-}
+}
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -2,7 +2,6 @@

 #include <cfloat>
 #include <cstdlib>
-#include <cassert>

 #include <memory>

@@ -19,80 +18,21 @@

 class ModelFrame {
 public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual float* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output) { return NULL; }
-  /*
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-  */
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<float[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
-  ~DrivingModelFrame();
-  float* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
+  ModelFrame(cl_device_id device_id, cl_context context);
+  ~ModelFrame();
+  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);

  const int MODEL_WIDTH = 512;
  const int MODEL_HEIGHT = 256;
  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
  const int buf_size = MODEL_FRAME_SIZE * 2;
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(float);
+  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);

 private:
+  Transform transform;
  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl;//, input_frames_cl;
+  cl_command_queue q;
+  cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
  cl_buffer_region region;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  float* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection, cl_mem* output);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  // cl_mem input_frame_cl;
-};
+  std::unique_ptr<uint8_t[]> input_frames;
+};
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -14,13 +14,5 @@ cdef extern from "common/clutil.h":
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
  cppclass ModelFrame:
    int buf_size
-    # unsigned char * buffer_from_cl(cl_mem*, int);
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
+    ModelFrame(cl_device_id, cl_context)
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -4,12 +4,11 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t

 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame


 cdef class CLContext(BaseCLContext):
@@ -24,17 +23,11 @@ cdef class CLMem:
    mem.mem = <cl_mem*> cmem
    return mem

-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
 cdef class ModelFrame:
  cdef cppModelFrame * frame
-  cdef int buf_size
+
+  def __cinit__(self, CLContext context):
+    self.frame = new cppModelFrame(context.device_id, context.context)

  def __dealloc__(self):
    del self.frame
@@ -42,35 +35,11 @@ cdef class ModelFrame:
  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
    cdef mat3 cprojection
    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
+    cdef unsigned char * data
    if output is None:
      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
    else:
      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
    if not data:
      return None
-
-    return np.asarray(<cnp.float32_t[:self.buf_size]> data)
-    # return CLMem.create(data)
-
-  # def buffer_from_cl(self, CLMem in_frames):
-  #   cdef unsigned char * data2
-  #   data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-  #   return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,6 +96,8 @@ class Parser:
                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -1,12 +1,39 @@
-import os
 import onnx
+import itertools
+import os
 import sys
 import numpy as np
 from typing import Any

 from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
-from openpilot.selfdrive.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES

+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(onnx_path_or_bytes):
+  if isinstance(onnx_path_or_bytes, bytes):
+    model = onnx.load_from_string(onnx_path_or_bytes)
+  elif isinstance(onnx_path_or_bytes, str):
+    model = onnx.load(onnx_path_or_bytes)
+
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    if i.op_type == 'Cast' and i.attribute[0].i == 10:
+      i.attribute[0].i = 1
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()

 def create_ort_session(path, fp16_to_fp32):
  os.environ["OMP_NUM_THREADS"] = "4"
@@ -22,14 +49,14 @@ def create_ort_session(path, fp16_to_fp32):
    provider = 'OpenVINOExecutionProvider'
  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'})
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
  else:
    options.intra_op_num_threads = 2
    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
    provider = 'CPUExecutionProvider'

-  model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path
+  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
  print("Onnx selected provider: ", [provider], file=sys.stderr)
  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
--- a/selfdrive/modeld/runners/ort_helpers.py
+++ b/selfdrive/modeld/runners/ort_helpers.py
@@ -1,36 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -1,7 +1,7 @@
 #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))

 __kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
+                     __global uchar * out,
                     int out_offset)
 {
    const int gid = get_global_id(0);
@@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y,
    const int ox = ois % TRANSFORMED_WIDTH;

    const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);

    // 02
    // 13

-    __global float* outy0;
-    __global float* outy1;
+    __global uchar* outy0;
+    __global uchar* outy1;
    if ((oy & 1) == 0) {
      outy0 = out + out_offset; //y0
      outy1 = out + out_offset + UV_SIZE*2; //y2
@@ -25,23 +24,24 @@ __kernel void loadys(__global uchar8 const * const Y,
      outy1 = out + out_offset + UV_SIZE*3; //y3
    }

-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
 }

 __kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
+                     __global uchar8 * out,
                     int out_offset)
 {
  const int gid = get_global_id(0);
  const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
+  out[gid + out_offset / 8] = inv;
 }

-__kernel void copy(__global float8 * inout,
-                   int in_offset)
+__kernel void copy(__global uchar8 * in,
+                   __global uchar8 * out,
+                   int in_offset,
+                   int out_offset)
 {
  const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
-}
+  out[gid + out_offset / 8] = in[gid + in_offset / 8];
+}
--- a/selfdrive/pandad/panda_comms.cc
+++ b/selfdrive/pandad/panda_comms.cc
@@ -36,7 +36,7 @@ PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
  for (size_t i = 0; i < num_devices; ++i) {
    libusb_device_descriptor desc;
    libusb_get_device_descriptor(dev_list[i], &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+    if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
      int ret = libusb_open(dev_list[i], &dev_handle);
      if (dev_handle == NULL || ret < 0) { goto fail; }

@@ -110,7 +110,7 @@ std::vector<std::string> PandaUsbHandle::list() {
    libusb_device *device = dev_list[i];
    libusb_device_descriptor desc;
    libusb_get_device_descriptor(device, &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+    if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
      libusb_device_handle *handle = NULL;
      int ret = libusb_open(device, &handle);
      if (ret < 0) { goto finish; }
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -416,7 +416,6 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)

    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
      panda->set_ir_pwr(ir_pwr);
-      Hardware::set_ir_power(ir_pwr);
      prev_ir_pwr = ir_pwr;
    }
  }
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cae12bc0a2960de17104a9e22fafe33d797fbcee
+255ceb08c75bc85379da5ec247e612be3716fb43
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -378,8 +378,6 @@ class TestOnroad:
    ]
    for (s, instant_max, avg_max) in cfgs:
      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some init can happen in first iteration
-      ts = ts[1:]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -67,13 +67,14 @@ if GetOption('extras'):
  qt_src.remove("main.cc")  # replaced by test_runner
  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)

-if GetOption('extras'):
+if GetOption('extras') and arch != "Darwin":
  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)

  # spinner and text window
  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
  qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)

+
  # setup and factory resetter
  qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
@@ -82,30 +83,29 @@ if GetOption('extras'):
  # build updater UI
  qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)

-  if arch != "Darwin":
-    # build installers
-    senv = qt_env.Clone()
-    senv['LINKFLAGS'].append('-Wl,-strip-debug')
+  # build installers
+  senv = qt_env.Clone()
+  senv['LINKFLAGS'].append('-Wl,-strip-debug')

-    release = "release3"
-    installers = [
-      ("openpilot", release),
-      ("openpilot_test", f"{release}-staging"),
-      ("openpilot_nightly", "nightly"),
-      ("openpilot_internal", "nightly-dev"),
-    ]
+  release = "release3"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "nightly"),
+    ("openpilot_internal", "nightly-dev"),
+  ]

-    cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-                        "ld -r -b binary -o $TARGET $SOURCE")
-    for name, branch in installers:
-      d = {'BRANCH': f"'\"{branch}\"'"}
-      if "internal" in name:
-        d['INTERNAL'] = "1"
+  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
+                      "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    d = {'BRANCH': f"'\"{branch}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"

-      obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
-      # keep installers small
-      assert f[0].get_size() < 370*1e3
+    obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
+    # keep installers small
+    assert f[0].get_size() < 370*1e3

 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -203,7 +203,7 @@ void WifiManager::connect(const Network &n, const bool is_hidden, const QString
  connection["ipv4"]["dns-priority"] = 600;
  connection["ipv6"]["method"] = "ignore";

-  asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
+  call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
 }

 void WifiManager::deactivateConnectionBySsid(const QString &ssid) {
@@ -330,10 +330,6 @@ void WifiManager::initConnections() {
      lteConnectionPath = path;
    }
  }
-
-  if (!isKnownConnection(tethering_ssid)) {
-    addTetheringConnection();
-  }
 }

 std::optional<QDBusPendingCall> WifiManager::activateWifiConnection(const QString &ssid) {
@@ -403,13 +399,9 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
    }

    if (changes) {
-      QDBusPendingCall pending_call = asyncCall(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings));  // update is temporary
-      QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(pending_call);
-      QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, [this, watcher]() {
-        deactivateConnection(lteConnectionPath);
-        activateModemConnection(lteConnectionPath);
-        watcher->deleteLater();
-      });
+      call(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings));  // update is temporary
+      deactivateConnection(lteConnectionPath);
+      activateModemConnection(lteConnectionPath);
    }
  }
 }
@@ -442,7 +434,10 @@ void WifiManager::addTetheringConnection() {
  connection["ipv4"]["route-metric"] = 1100;
  connection["ipv6"]["method"] = "ignore";

-  asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
+  auto path = call<QDBusObjectPath>(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
+  if (!path.path().isEmpty()) {
+    knownConnections[path] = tethering_ssid;
+  }
 }

 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
@@ -458,6 +453,10 @@ void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {

 void WifiManager::setTetheringEnabled(bool enabled) {
  if (enabled) {
+    if (!isKnownConnection(tethering_ssid)) {
+      addTetheringConnection();
+    }
+
    auto pending_call = activateWifiConnection(tethering_ssid);

    if (pending_call) {
@@ -479,6 +478,9 @@ bool WifiManager::isTetheringEnabled() {
 }

 QString WifiManager::getTetheringPassword() {
+  if (!isKnownConnection(tethering_ssid)) {
+    addTetheringConnection();
+  }
  const QDBusObjectPath &path = getConnectionPath(tethering_ssid);
  if (!path.path().isEmpty()) {
    QDBusReply<QMap<QString, QVariantMap>> response = call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "GetSecrets", "802-11-wireless-security");
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -100,9 +100,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: set[str] = set()

 cur_upload_items: dict[int, UploadItem | None] = {}
+cur_upload_items_lock = threading.Lock()


 def strip_zst_extension(fn: str) -> str:
@@ -130,8 +130,9 @@ class UploadQueueCache:
  @staticmethod
  def cache(upload_queue: Queue[UploadItem]) -> None:
    try:
-      queue: list[UploadItem | None] = list(upload_queue.queue)
-      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
+      with upload_queue.mutex:
+        items = [asdict(item) for item in upload_queue.queue]
+
      Params().put("AthenadUploadQueue", json.dumps(items))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -198,10 +199,12 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
      progress=0,
      current=False
    )
-    upload_queue.put_nowait(item)
-    UploadQueueCache.cache(upload_queue)

-    cur_upload_items[tid] = None
+    with cur_upload_items_lock:
+      upload_queue.put_nowait(item)
+      cur_upload_items[tid] = None
+
+    UploadQueueCache.cache(upload_queue)

    for _ in range(RETRY_DELAY):
      time.sleep(1)
@@ -221,7 +224,8 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
  if end_event.is_set():
    raise AbortTransferException

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


 def upload_handler(end_event: threading.Event) -> None:
@@ -229,14 +233,10 @@ def upload_handler(end_event: threading.Event) -> None:
  tid = threading.get_ident()

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

      # Remove item if too old
      age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -415,8 +415,10 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo

@dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  with cur_upload_items_lock, upload_queue.mutex:
+    items = list(upload_queue.queue) + [item for item in cur_upload_items.values() if item is not None]
+
+  return [asdict(item) for item in items]


@dispatcher.add_method
@@ -424,13 +426,14 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
  if not isinstance(upload_id, list):
    upload_id = [upload_id]

-  uploading_ids = {item.id for item in list(upload_queue.queue)}
-  cancelled_ids = uploading_ids.intersection(upload_id)
-  if len(cancelled_ids) == 0:
-    return {"success": 0, "error": "not found"}
+  with upload_queue.mutex:
+    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
+    if len(remaining_items) == len(upload_queue.queue):
+      return {"success": 0, "error": "not found"}

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

@dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,7 +78,6 @@ class TestAthenadMethods:

    athenad.upload_queue = queue.Queue()
    athenad.cur_upload_items.clear()
-    athenad.cancelled_uploads.clear()

    for i in os.listdir(Paths.log_root()):
      p = os.path.join(Paths.log_root(), i)
@@ -282,13 +281,10 @@ class TestAthenadMethods:
    athenad.upload_queue.put_nowait(item)
    dispatcher["cancelUpload"](item.id)

-    assert item.id in athenad.cancelled_uploads
-
    self._wait_for_upload()
    time.sleep(0.1)

    assert athenad.upload_queue.qsize() == 0
-    assert len(athenad.cancelled_uploads) == 0

  @with_upload_handler
  def test_cancel_expiry(self):
@@ -331,7 +327,7 @@ class TestAthenadMethods:
    assert items[0] == asdict(item)
    assert not items[0]['current']

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

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

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

    # serialize item
    athenad.UploadQueueCache.cache(athenad.upload_queue)
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -89,14 +89,12 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
  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);

-  if (is_raw) imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
+  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }

 CameraBuf::~CameraBuf() {
-  if (camera_bufs_raw != nullptr) {
-    for (int i = 0; i < frame_buf_count; i++) {
-      camera_bufs_raw[i].free();
-    }
+  for (int i = 0; i < frame_buf_count; i++) {
+    camera_bufs_raw[i].free();
  }
  if (imgproc) delete imgproc;
 }
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:

  float fl_pix = 0;

-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
  ~CameraState();
  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -14,7 +14,7 @@ int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr,
  return sizeof(struct cdm_dmi_cmd);
 }

-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals) {
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals) {
  struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst;
  cmd->cmd = CAM_CDM_CMD_REG_CONT;
  cmd->count = vals.size();
@@ -31,7 +31,7 @@ int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals) {
  return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t);
 }

-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals) {
+int write_random(uint8_t *dst, std::vector<uint32_t> vals) {
  struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst;
  cmd->cmd = CAM_CDM_CMD_REG_RANDOM;
  cmd->count = vals.size() / 2;
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -7,8 +7,8 @@
 #include <memory>

 // our helpers
-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
+int write_random(uint8_t *dst, std::vector<uint32_t> vals);
+int write_cont(uint8_t *dst, uint32_t reg, std::vector<uint32_t> vals);
 int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);

 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
--- a/system/camerad/cameras/process_raw.cl
+++ b/system/camerad/cameras/process_raw.cl
@@ -19,17 +19,6 @@
 #endif

 float get_vignetting_s(float r) {
-#if defined(VIGNETTE_PROFILE_4DT6MM)
-  if (r < 100000) {
-    return 1.0f + 0.0000013f*r;
-  } else if (r < 250000) {
-    return 1.02f + 0.0000011f*r;
-  } else if (r < 400000) {
-    return 0.92f + 0.0000015f*r;
-  } else {
-    return 0.44f + 0.0000027f*r;
-  }
-#elif defined(VIGNETTE_PROFILE_8DT0MM)
  if (r < 62500) {
    return (1.0f + 0.0000008f*r);
  } else if (r < 490000) {
@@ -39,9 +28,6 @@ float get_vignetting_s(float r) {
  } else {
    return (0.53503625f + 0.0000000000022f*r*r);
  }
-#else
-  return 1.0f;
-#endif
 }

 int4 parse_12bit(uchar8 pvs) {
@@ -79,7 +65,7 @@ __kernel void process_raw(const __global uchar * in, __global uchar * out, int e
  #if VIGNETTING
    int gx = (gid_x*2 - RGB_WIDTH/2);
    int gy = (gid_y*2 - RGB_HEIGHT/2);
-    const float vignette_factor = get_vignetting_s(gx*gx + gy*gy);
+    const float vignette_factor = get_vignetting_s((gx*gx + gy*gy) / VIGNETTE_RSZ);
  #else
    const float vignette_factor = 1.0;
  #endif
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -51,12 +51,12 @@ int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
  };
  int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));

-  int32_t ioctl_result = static_cast<int32_t>(arg.result);
+  int32_t ioctl_result = (int32_t)arg.result;
  if (ret < 0) {
    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
    return ret;
  }
-  if (ioctl_result != 0) {
+  if (ioctl_result < 0) {
    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
    return ioctl_result;
  }
@@ -196,9 +196,9 @@ void SpectraMaster::init() {
  assert(isp_fd >= 0);
  LOGD("opened isp");

-  icp_fd = open_v4l_by_name_and_index("cam-icp");
-  assert(icp_fd >= 0);
-  LOGD("opened icp");
+  //icp_fd = open_v4l_by_name_and_index("cam-icp");
+  //assert(icp_fd >= 0);
+  //LOGD("opened icp");

  // query ISP for MMU handles
  LOG("-- Query for MMU handles");
@@ -215,6 +215,7 @@ void SpectraMaster::init() {
  cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;

  // query ICP for MMU handles
+  /*
  struct cam_icp_query_cap_cmd icp_query_cap_cmd = {0};
  query_cap_cmd.caps_handle = (uint64_t)&icp_query_cap_cmd;
  query_cap_cmd.size = sizeof(icp_query_cap_cmd);
@@ -222,6 +223,7 @@ void SpectraMaster::init() {
  assert(ret == 0);
  LOGD("using ICP MMU handle: %x", icp_query_cap_cmd.dev_iommu_handle.non_secure);
  icp_device_iommu = icp_query_cap_cmd.dev_iommu_handle.non_secure;
+  */

  // subscribe
  LOG("-- Subscribing");
@@ -673,21 +675,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
  uint64_t request_id = request_ids[i];

  if (sync_objs[i]) {
-    // SOF has come in, wait until readout is complete
+    // wait
    struct cam_sync_wait sync_wait = {0};
    sync_wait.sync_obj = sync_objs[i];
-    sync_wait.timeout_ms = 100;
+    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
    if (ret != 0) {
-      // TODO: handle frame drop cleanly
-      // when this happens, it messes up future frames
      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
+      // TODO: handle frame drop cleanly
    }
    buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
    buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
-    if (dp) {
-      buf.queue(i);
-    }
+    if (dp) buf.queue(i);

    // destroy old output fence
    for (auto so : {sync_objs, sync_objs_bps_out}) {
@@ -710,13 +709,13 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
  }
  sync_objs[i] = sync_create.sync_obj;

-  if (icp_dev_handle > 0) {
-    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
-    if (ret != 0) {
-      LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
-    }
-    sync_objs_bps_out[i] = sync_create.sync_obj;
+  /*
+  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  if (ret != 0) {
+    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
  }
+  sync_objs_bps_out[i] = sync_create.sync_obj;
+  */

  // schedule request with camera request manager
  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
@@ -744,10 +743,8 @@ void SpectraCamera::camera_map_bufs() {
    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;
-    if (icp_dev_handle > 0) {
-      mem_mgr_map_cmd.num_hdl = 2;
-      mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
-    }
+    //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
+    //mem_mgr_map_cmd.num_hdl = 2;

    if (is_raw) {
      // RAW bayer images
@@ -899,6 +896,8 @@ void SpectraCamera::configISP() {
 }

 void SpectraCamera::configICP() {
+  if (!enabled) return;
+
  /*
    Configures both the ICP and BPS.
  */
@@ -1046,10 +1045,6 @@ void SpectraCamera::camera_close() {

    // release devices
    LOGD("-- Release devices");
-    if (icp_dev_handle > 0) {
-      ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
-      LOGD("release icp: %d", ret);
-    }
    ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
    LOGD("release isp: %d", ret);
    ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -22,9 +22,8 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py

 // CSLDeviceType/CSLPacketOpcodesIFE from camx
 // cam_packet_header.op_code = (device << 24) | (opcode);
-#define CSLDeviceTypeImageSensor (0x01 << 24)
-#define CSLDeviceTypeIFE         (0x0F << 24)
-#define CSLDeviceTypeBPS         (0x10 << 24)
+#define CSLDeviceTypeImageSensor (0x1 << 24)
+#define CSLDeviceTypeIFE         (0xF << 24)
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1

--- a/system/camerad/sensors/ar0231_cl.h
+++ b/system/camerad/sensors/ar0231_cl.h
@@ -1,10 +1,9 @@
 #if SENSOR_ID == 1

-#define VIGNETTE_PROFILE_8DT0MM
-
 #define BIT_DEPTH 12
 #define PV_MAX 4096
 #define BLACK_LVL 168
+#define VIGNETTE_RSZ 1.0f

 float4 normalize_pv(int4 parsed, float vignette_factor) {
  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
@@ -31,4 +30,4 @@ float3 apply_gamma(float3 rgb, int expo_time) {
    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
 }

-#endif
+#endif
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -1,13 +1,13 @@
 #if SENSOR_ID == 3

 #define BGGR
-#define VIGNETTE_PROFILE_4DT6MM

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

 float combine_dual_pvs(float lv, float sv, int expo_time) {
  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
--- a/system/camerad/sensors/ox03c10_cl.h
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -1,9 +1,8 @@
 #if SENSOR_ID == 2

-#define VIGNETTE_PROFILE_8DT0MM
-
 #define BIT_DEPTH 12
 #define BLACK_LVL 64
+#define VIGNETTE_RSZ 1.0f

 float ox_lut_func(int x) {
  if (x < 512) {
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 sudo dmesg -C
 scons -u -j8 --minimal .
 export DEBUG_FRAMES=1
-export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
-#export DISABLE_DRIVER=1
-export LOGPRINT=debug
+#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+export DISABLE_DRIVER=1
+#export LOGPRINT=debug
 ./camerad
--- a/system/camerad/test/icp_debug.sh
+++ b/system/camerad/test/icp_debug.sh
@@ -1,13 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-cd /sys/kernel/debug/tracing
-echo "" > trace
-echo 1 > tracing_on
-#echo Y > /sys/kernel/debug/camera_icp/a5_debug_q
-echo 0x1 > /sys/kernel/debug/camera_icp/a5_debug_type
-echo 1 > /sys/kernel/debug/tracing/events/camera/enable
-echo 0xffffffff > /sys/kernel/debug/camera_icp/a5_debug_lvl
-echo 1 > /sys/kernel/debug/tracing/events/camera/cam_icp_fw_dbg/enable
-
-cat /sys/kernel/debug/tracing/trace_pipe
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -28,7 +28,6 @@ public:
  static void reboot() {}
  static void poweroff() {}
  static void set_brightness(int percent) {}
-  static void set_ir_power(int percentage) {}
  static void set_display_power(bool on) {}

  static bool get_ssh_enabled() { return false; }
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
-import fcntl
 import os
 import json
 import queue
-import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
@@ -61,40 +59,6 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
  prev_offroad_states[offroad_alert] = (show_alert, extra_text)
  set_offroad_alert(offroad_alert, show_alert, extra_text)

-def touch_thread(end_event):
-  count = 0
-
-  pm = messaging.PubMaster(["touch"])
-
-  event_format = "llHHi"
-  event_size = struct.calcsize(event_format)
-  event_frame = []
-
-  with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
-    fcntl.fcntl(event_file, fcntl.F_SETFL, os.O_NONBLOCK)
-    while not end_event.is_set():
-      if (count % int(1. / DT_HW)) == 0:
-        event = event_file.read(event_size)
-        if event:
-          (sec, usec, etype, code, value) = struct.unpack(event_format, event)
-          if etype != 0 or code != 0 or value != 0:
-            touch = log.Touch.new_message()
-            touch.sec = sec
-            touch.usec = usec
-            touch.type = etype
-            touch.code = code
-            touch.value = value
-            event_frame.append(touch)
-          else: # end of frame, push new log
-            msg = messaging.new_message('touch', len(event_frame), valid=True)
-            msg.touch = event_frame
-            pm.send('touch', msg)
-            event_frame = []
-          continue
-
-      count += 1
-      time.sleep(DT_HW)
-

 def hw_state_thread(end_event, hw_queue):
  """Handles non critical hardware state, and sends over queue"""
@@ -456,9 +420,6 @@ def main():
    threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
  ]

-  if TICI:
-    threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
-
  for t in threads:
    t.start()

--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50.img.xz",
-    "hash": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
-    "hash_raw": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
-    "size": 16422912,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
+    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "size": 16418816,
    "sparse": false,
    "full_check": true,
    "has_ab": true
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c.img.xz",
-    "hash": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
-    "hash_raw": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
+    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
    "size": 4404019200,
    "sparse": false,
    "full_check": false,
@@ -21,9 +21,9 @@
  },
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
-    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
-    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
+    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
    "size": 3282256,
    "sparse": false,
    "full_check": true,
@@ -41,9 +41,9 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
-    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
-    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
+    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
    "size": 98124,
    "sparse": false,
    "full_check": true,
@@ -51,9 +51,9 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
-    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
-    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
+    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
    "size": 40336,
    "sparse": false,
    "full_check": true,
@@ -61,9 +61,9 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
-    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
-    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
+    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
    "size": 184364,
    "sparse": false,
    "full_check": true,
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -4,7 +4,6 @@
 #include <fstream>
 #include <map>
 #include <string>
-#include <algorithm>  // for std::clamp

 #include "common/params.h"
 #include "common/util.h"
@@ -26,13 +25,7 @@ public:
  }

  static cereal::InitData::DeviceType get_device_type() {
-    static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
-      {"tici", cereal::InitData::DeviceType::TICI},
-      {"tizi", cereal::InitData::DeviceType::TIZI},
-      {"mici", cereal::InitData::DeviceType::MICI}
-    };
-    auto it = device_map.find(get_name());
-    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
+    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI);
  }

  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
@@ -75,28 +68,6 @@ public:
    }
  }

-  static void set_ir_power(int percent) {
-    auto device = get_device_type();
-    if (device == cereal::InitData::DeviceType::TICI ||
-        device == cereal::InitData::DeviceType::TIZI) {
-      return;
-    }
-
-    percent = std::clamp(percent, 0, 100);
-
-    std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
-    if (torch_brightness.is_open()) {
-      torch_brightness << percent << "\n";
-      torch_brightness.close();
-    }
-
-    std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
-    if (switch_brightness.is_open()) {
-      switch_brightness << percent << "\n";
-      switch_brightness.close();
-    }
-  }
-
  static std::map<std::string, std::string> get_init_logs() {
    std::map<std::string, std::string> ret = {
      {"/BUILD", util::read_file("/BUILD")},
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -505,8 +505,8 @@ class Tici(HardwareBase):
        pass

    # eSIM prime
-    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if sim_id.startswith('8985235') and not os.path.exists(dest):
+    if sim_id.startswith('8985235'):
+      dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
        dat = f.read()
        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -31,9 +31,9 @@ class Proc:


 PROCS = [
-  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 0.65, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
  Proc(['encoderd'], 0.23, msgs=[]),
 ]

--- a/system/timed.py
+++ b/system/timed.py
@@ -5,7 +5,7 @@ import time
 from typing import NoReturn

 import cereal.messaging as messaging
-from openpilot.common.time import min_date, system_time_valid
+from openpilot.common.time import system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.gps import get_gps_location_service
@@ -26,10 +26,10 @@ def set_time(new_time):

 def main() -> NoReturn:
  """
-    timed has two responsibilities:
-    - getting the current time from GPS
-    - publishing the time in the logs
+    timed has one responsibility:
+    - getting the current time

+    GPS directly gives time.
    AGNOS will also use NTP to update the time.
  """

@@ -47,15 +47,14 @@ def main() -> NoReturn:
    pm.send('clocks', msg)

    gps = sm[gps_location_service]
-    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
    if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
      continue
-    if not gps.hasFix:
-      continue
-    if gps_time < min_date():
-      continue

+    # set time
+    # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
    set_time(gps_time)
+
    time.sleep(10)

 if __name__ == "__main__":
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -11,7 +11,7 @@ Welcome to the first part of the comma CTF!

 getting started
 ```bash
-# start the route replay
+# start the route reply
 cd tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam

--- a/tools/README.md
+++ b/tools/README.md
@@ -24,9 +24,16 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git

 **2. Run the setup script**

+Ubuntu 24.04:
 ``` bash
 cd openpilot
-tools/op.sh setup
+tools/ubuntu_setup.sh
+```
+
+macOS:
+``` bash
+cd openpilot
+tools/mac_setup.sh
 ```

 **3. Git LFS**
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -23,6 +23,7 @@ function install_ubuntu_common_requirements() {
  $SUDO apt-get install -y --no-install-recommends \
    ca-certificates \
    clang \
+    cppcheck \
    build-essential \
    gcc-arm-none-eabi \
    liblzma-dev \
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -5,12 +5,15 @@ from urllib.parse import urlparse
 from openpilot.tools.lib.url_file import URLFile

 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
+LOCAL_IPS = ["10.", "192.168.", *[f"172.{i}" for i in range(16, 32)]]


 def internal_source_available(url=DATA_ENDPOINT):
  try:
    hostname = urlparse(url).hostname
    port = urlparse(url).port or 80
+    if not socket.gethostbyname(hostname).startswith(LOCAL_IPS):
+      return False
    with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
      s.settimeout(0.5)
      s.connect((hostname, port))
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -5,9 +5,6 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)

-# homebrew update is slow
-export HOMEBREW_NO_AUTO_UPDATE=1
-
 if [[ $SHELL == "/bin/zsh" ]]; then
  RC_FILE="$HOME/.zshrc"
 elif [[ $SHELL == "/bin/bash" ]]; then
@@ -31,6 +28,7 @@ if [[ $(command -v brew) == "" ]]; then
 fi

 brew bundle --file=- <<-EOS
+brew "cppcheck"
 brew "git-lfs"
 brew "zlib"
 brew "capnp"
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -328,8 +328,7 @@ function op_switch() {
  BRANCH="$1"

  git fetch "$REMOTE" "$BRANCH"
-  git checkout -f FETCH_HEAD
-  git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH"
+  git checkout -f --recurse-submodules "$BRANCH"
  git reset --hard "${REMOTE}/${BRANCH}"
  git clean -df
  git submodule update --init --recursive
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -12,8 +12,8 @@ from openpilot.common.realtime import Ratekeeper
 DUAL_CAM = os.getenv("DUAL_CAMERA")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")),
 ]
 if DUAL_CAM:
  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
@@ -25,10 +25,9 @@ class Camerad:

    self.cameras = []
    for c in CAMERAS:
-      print(f"opening {c.msg_name} at {c.cam_id}")
      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
      self.cameras.append(cam)
-      self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
+      self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)

    self.vipc_server.start_listener()

--- a/tools/webcam/start_camerad.sh
+++ b/tools/webcam/start_camerad.sh
@@ -5,9 +5,9 @@ export BLOCK="${BLOCK},camerad"
 export USE_WEBCAM="1"

 # Change camera index according to your setting
-export CAMERA_ROAD_ID="/dev/video0"
-export CAMERA_DRIVER_ID="/dev/video1"
-#export DUAL_CAMERA="/dev/video2" # optional, camera index for wide road camera
+export CAMERA_ROAD_ID="0"
+export CAMERA_DRIVER_ID="1"
+export DUAL_CAMERA="2" # camera index for wide road camera

 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

--- a/uv.lock
+++ b/uv.lock
@@ -3,10 +3,10 @@ requires-python = ">=3.11, <=3.12"
 resolution-markers = [
    "python_full_version < '3.12' and platform_system == 'Darwin'",
    "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version < '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
    "python_full_version >= '3.12' and platform_system == 'Darwin'",
    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system == 'Linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
+    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux')",
 ]

 [[package]]
@@ -105,23 +105,23 @@ wheels = [

 [[package]]
 name = "aiosignal"
-version = "1.3.2"
+version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "frozenlist" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/ba/b5/6d55e80f6d8a08ce22b982eafa278d823b541c925f11ee774b0b9c43473d/aiosignal-1.3.2.tar.gz", hash = "sha256:a8c255c66fafb1e499c9351d0bf32ff2d8a0321595ebac3b93713656d2436f54", size = 19424 }
+sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ec/6a/bc7e17a3e87a2985d3e8f4da4cd0f481060eb78fb08596c42be62c90a4d9/aiosignal-1.3.2-py2.py3-none-any.whl", hash = "sha256:45cde58e409a301715980c2b01d0c28bdde3770d8290b5eb2173759d9acb31a5", size = 7597 },
+    { url = "https://files.pythonhosted.org/packages/76/ac/a7305707cb852b7e16ff80eaf5692309bde30e2b1100a1fcacdc8f731d97/aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17", size = 7617 },
 ]

 [[package]]
 name = "attrs"
-version = "24.3.0"
+version = "24.2.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/48/c8/6260f8ccc11f0917360fc0da435c5c9c7504e3db174d5a12a1494887b045/attrs-24.3.0.tar.gz", hash = "sha256:8f5c07333d543103541ba7be0e2ce16eeee8130cb0b3f9238ab904ce1e85baff", size = 805984 }
+sdist = { url = "https://files.pythonhosted.org/packages/fc/0f/aafca9af9315aee06a89ffde799a10a582fe8de76c563ee80bbcdc08b3fb/attrs-24.2.0.tar.gz", hash = "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346", size = 792678 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/89/aa/ab0f7891a01eeb2d2e338ae8fecbe57fcebea1a24dbb64d45801bfab481d/attrs-24.3.0-py3-none-any.whl", hash = "sha256:ac96cd038792094f438ad1f6ff80837353805ac950cd2aa0e0625ef19850c308", size = 63397 },
+    { url = "https://files.pythonhosted.org/packages/6a/21/5b6702a7f963e95456c0de2d495f67bf5fd62840ac655dc451586d23d39a/attrs-24.2.0-py3-none-any.whl", hash = "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2", size = 63001 },
 ]

 [[package]]
@@ -214,11 +214,11 @@ wheels = [

 [[package]]
 name = "certifi"
-version = "2024.12.14"
+version = "2024.8.30"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/0f/bd/1d41ee578ce09523c81a15426705dd20969f5abf006d1afe8aeff0dd776a/certifi-2024.12.14.tar.gz", hash = "sha256:b650d30f370c2b724812bee08008be0c4163b163ddaec3f2546c1caf65f191db", size = 166010 }
+sdist = { url = "https://files.pythonhosted.org/packages/b0/ee/9b19140fe824b367c04c5e1b369942dd754c4c5462d5674002f75c4dedc1/certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9", size = 168507 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/a5/32/8f6669fc4798494966bf446c8c4a162e0b5d893dff088afddf76414f70e1/certifi-2024.12.14-py3-none-any.whl", hash = "sha256:1275f7a45be9464efc1173084eaa30f866fe2e47d389406136d332ed4967ec56", size = 164927 },
+    { url = "https://files.pythonhosted.org/packages/12/90/3c9ff0512038035f59d279fddeb79f5f1eccd8859f06d6163c58798b9487/certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8", size = 167321 },
 ]

 [[package]]
@@ -501,7 +501,7 @@ name = "ewmhlib"
 version = "0.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "python-xlib", marker = "platform_system != 'Darwin' and sys_platform == 'linux'" },
+    { name = "python-xlib", marker = "sys_platform == 'linux'" },
    { name = "typing-extensions" },
 ]
 wheels = [
@@ -546,27 +546,27 @@ wheels = [

 [[package]]
 name = "fonttools"
-version = "4.55.3"
+version = "4.55.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/76/61/a300d1574dc381393424047c0396a0e213db212e28361123af9830d71a8d/fonttools-4.55.3.tar.gz", hash = "sha256:3983313c2a04d6cc1fe9251f8fc647754cf49a61dac6cb1e7249ae67afaafc45", size = 3498155 }
+sdist = { url = "https://files.pythonhosted.org/packages/f4/3a/6ab28db8f90c99e6b502436fb642912b590c352d5ba83e0b22b46db209da/fonttools-4.55.2.tar.gz", hash = "sha256:45947e7b3f9673f91df125d375eb57b9a23f2a603f438a1aebf3171bffa7a205", size = 3492954 }
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