more

FCA: S20 init
ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 )
2026-06-24 16:32:08 +08:00 · 2024-11-21 10:40:58 -05:00 · 2024-11-21 10:18:40 -05:00 · 2024-11-17 09:49:37 +01:00 · 2024-11-16 22:27:29 -05:00 · 2024-11-16 23:45:12 +01:00
200 changed files with 3210 additions and 4702 deletions
@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/
@@ -0,0 +1,18 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+RUN usermod -aG video batman
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
@@ -0,0 +1,53 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/dev:/dev",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
+}
@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi
@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env
@@ -8,7 +8,7 @@ assignees: ''

 **Checklist**

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

 **Checklist**

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

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

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

    - name: setup github cache
-      id: gha-cache-ro
      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
      uses: 'actions/cache/restore@v4'
      with:
@@ -24,7 +24,7 @@ jobs:
    # Check PR target branch
    - name: check branch
      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
@@ -37,17 +37,17 @@ jobs:
    # Welcome comment
    - name: "First timers PR"
      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
      with:
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        pr-message: |
            <!-- _(run_id **${{ github.run_id }}**)_ -->
            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
            * Before marking as "ready for review", ensure:
              * the goal is clearly stated in the description
              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
              * include a route or your device' dongle ID if relevant
-      
+
@@ -13,7 +13,7 @@ jobs:
  badges:
    name: create badges
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      contents: write
    steps:
@@ -29,7 +29,7 @@ jobs:

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

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

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

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

 jobs:
  selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: sunnypilot/sunnypilot/.github/workflows/tools_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
@@ -18,10 +18,9 @@ concurrency:
 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
+    timeout-minutes: 1
    steps:
-    - uses: commaai/timeout@v1
-
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -35,13 +34,13 @@ jobs:

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

@@ -12,7 +12,7 @@ jobs:
  build_prebuilt:
    name: build prebuilt
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    env:
      PUSH_IMAGE: true
    permissions:
@@ -13,7 +13,7 @@ jobs:
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      checks: read
      contents: write
@@ -11,7 +11,7 @@ jobs:
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
      with:
@@ -28,7 +28,7 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        scons -j$(nproc) --minimal opendbc_repo
+        scons -j$(nproc) --minimal opendbc
        PYTHONPATH=. python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
@@ -4,6 +4,7 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,10 +15,11 @@ on:
        type: string

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

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

 jobs:
  build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
@@ -52,7 +55,7 @@ jobs:
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: release/check-submodules.sh
    - name: Build openpilot and run checks
@@ -75,9 +78,15 @@ jobs:
        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"

  build:
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
+                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
+                   'ubuntu-latest'}}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -86,14 +95,20 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

  build_mac:
+    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
    name: build macOS
-    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -102,6 +117,7 @@ jobs:
      uses: ./.github/workflows/auto-cache
      with:
        path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
@@ -113,14 +129,32 @@ jobs:
      uses: ./.github/workflows/auto-cache
      with:
        path: /tmp/scons_cache
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(nproc)

+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
  static_analysis:
    name: static analysis
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
    env:
      PYTHONWARNINGS: default
    steps:
@@ -134,16 +168,24 @@ jobs:

  unit_tests:
    name: unit tests
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Setup cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/comma_download_cache
+        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
@@ -161,25 +203,27 @@ jobs:

  process_replay:
    name: process replay
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        chmod -R 777 /tmp/comma_download_cache && \
@@ -214,9 +258,9 @@ jobs:

  test_cars:
    name: cars
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    strategy:
      fail-fast: false
      matrix:
@@ -227,17 +271,17 @@ jobs:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
+      id: dependency-cache
+      uses: ./.github/workflows/auto-cache
      with:
        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', '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
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
        NUM_JOBS: 4
@@ -306,10 +350,9 @@ jobs:

  simulator_driving:
    name: simulator driving
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -328,9 +371,9 @@ jobs:
  create_ui_report:
    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
    name: Create UI Report
-    runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -354,5 +397,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -17,6 +17,7 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup1.outcome == 'failure'
      shell: bash
@@ -26,6 +27,7 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup2.outcome == 'failure'
      shell: bash
@@ -34,4 +36,5 @@ runs:
      if: steps.setup2.outcome == 'failure'
      uses: ./.github/workflows/setup
      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
@@ -1,6 +1,10 @@
 name: 'openpilot env setup'

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

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

+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
    # build cache
    - id: date
      shell: bash
@@ -20,7 +20,7 @@ jobs:
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
@@ -0,0 +1,55 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+      - master-new
+  pull_request:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+concurrency:
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+
+jobs:
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    if: false  # we can re-enable once this is faster
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: ./scripts/retry.sh devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
+    - name: Test environment
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt
@@ -3,23 +3,25 @@ on:
  push:
    branches:
      - master
+      - master-new
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
      - 'master'
+      - 'master-new'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

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

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

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

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

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

              DIFF="${DIFF}</table>"
@@ -125,7 +127,7 @@ jobs:
            if [[ $INDEX -eq 0 ]]; then
              TABLE="${TABLE}<tr>"
            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
              TABLE="${TABLE}</tr>"
            fi
@@ -1,18 +1,18 @@
 [submodule "panda"]
  path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
  path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
@@ -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}
@@ -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

@@ -68,14 +68,17 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER

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

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

 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -79,10 +79,6 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
        return
    }

-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
    def extra = extra_env.collect { "export ${it}" }.join('\n');
    def branch = env.BRANCH_NAME ?: 'master';
    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
@@ -127,11 +123,6 @@ def hasPathChanged(String gitDiff, List<String> paths) {
  return false
 }

-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
 def setupCredentials() {
  withCredentials([
    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
@@ -216,8 +207,8 @@ node {
          step("build", "cd system/manager && ./build.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
@@ -252,7 +243,7 @@ node {
      'replay': {
        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
        ])
      },
      'tizi': {
@@ -262,7 +253,7 @@ node {
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
        ])
      },

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

@@ -349,7 +349,7 @@ Export('common', 'gpucommon')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})

 SConscript(['cereal/SConscript'])

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

 # Build system services
 SConscript([
-  'system/ui/SConscript',
  'system/proclogd/SConscript',
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
@@ -486,9 +486,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  nvmeTempC @35 :List(Float32);
  modemTempC @36 :List(Float32);
  pmicTempC @39 :List(Float32);
-  intakeTempC @46 :Float32;
-  exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
@@ -2440,14 +2437,6 @@ 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 +2517,6 @@ struct Event {
    logMessage @18 :Text;
    errorLogMessage @85 :Text;

-    # touch frame
-    touch @135 :List(Touch);
-
    # navigation
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
@@ -17,5 +17,5 @@ class TestServices:

  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
      assert ret == 0, "generated services header is not valid C"
@@ -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),
@@ -112,6 +112,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DisablePowerDown", PERSISTENT},
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
    {"DongleId", PERSISTENT},
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
@@ -13,7 +13,7 @@ public:
    if (prefix.empty()) {
      prefix = util::random_string(15);
    }
-    msgq_path = Path::shm_path() + "/" + prefix;
+    msgq_path = "/dev/shm/" + prefix;
    bool ret = util::create_directories(msgq_path, 0777);
    assert(ret);
    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 class OpenpilotPrefix:
  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
+    self.msgq_path = os.path.join('/dev/shm', self.prefix)
    self.clean_dirs_on_exit = clean_dirs_on_exit
    self.shared_download_cache = shared_download_cache

@@ -48,13 +48,13 @@ class Ratekeeper:
  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
+    self._next_frame_time = time.monotonic() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
    self._process_name = getproctitle()
    self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = -1.
-    self._next_frame_time = -1.
+    self._last_monitor_time = time.monotonic()

  @property
  def frame(self) -> int:
@@ -79,10 +79,6 @@ class Ratekeeper:

  # Monitors the cumulative lag, but does not enforce a rate
  def monitor_time(self) -> bool:
-    if self._last_monitor_time < 0:
-      self._next_frame_time = time.monotonic() + self._interval
-      self._last_monitor_time = time.monotonic()
-
    prev = self._last_monitor_time
    self._last_monitor_time = time.monotonic()
    self._dts.append(self._last_monitor_time - prev)
@@ -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))

@@ -2,9 +2,8 @@

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

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

 bool watchdog_kick(uint64_t ts) {
  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
@@ -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>|
@@ -167,7 +167,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
@@ -188,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
+|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -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;
-}
@@ -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)
@@ -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="11.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -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
@@ -31,9 +31,6 @@ dependencies = [
  # body / webrtcd
  "aiohttp",
  "aiortc",
-  # aiortc does not put an upper bound on pyopenssl and is now incompatible
-  # with the latest release
-  "pyopenssl < 24.3.0",
  "pyaudio",

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

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

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

-print(f"{tlns} lines of openpilot python")
-print(f"{carlns} lines of car ports")
-print(f"{scriptlns} lines of tools/scripts/debug")
-print(f"{testlns} lines of tests")
+print("%d lines of openpilot python" % tlns)
+print("%d lines of car ports" % carlns)
+print("%d lines of tools/scripts/debug" % scriptlns)
+print("%d lines of tests" % testlns)
 #print(sorted(list(imps)))
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-FAIL=0
-
-if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
-  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
-  FAIL=1
-fi
-
-exit $FAIL
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

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

 function run() {
@@ -53,7 +53,6 @@ function run_tests() {
  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
-  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES

  if [[ -z "$FAST" ]]; then
    run "mypy" mypy $PYTHON_FILES
@@ -16,9 +16,9 @@ def waste(core):
  j = 0
  while 1:
    if (i % 100) == 0:
-      setproctitle(f"{core:3d}: {i:8d}")
+      setproctitle("%3d: %8d" % (core, i))
      lt = time.monotonic()
-      print(f"{core:3d}: {i:8d} {lt-st:f}  {j:.2f}")
+      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
      st = lt
    i += 1
    j = np.sum(np.matmul(m1, m2))
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7565541b4e6213221174839b9b2b67397ced0b9807ea56413989fd37325b3b6
+size 4908
@@ -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.:
@@ -17,7 +17,7 @@ class TestCarDocs:
    with open(CARS_MD_OUT) as f:
      current_cars_md = f.read()

-    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
+    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"

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

      # Skip first frame so CS_prev is properly initialized
      if idx == 0:
@@ -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,
@@ -28,7 +28,7 @@ def can_printer(bus, max_msg, addr, ascii_decode):
        x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
        freq = len(msgs[_addr]) / (time.monotonic() - start)
        if max_msg is None or _addr < max_msg:
-          dd += f"{_addr:04X}({_addr:4d})({len(msgs[_addr]):6d})({freq:3}dHz) {x.ljust(20)} {a}\n"
+          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
      print(dd)
      lp = time.monotonic()

@@ -29,7 +29,7 @@ if __name__ == '__main__':
    start_t = time.process_time_ns()
    for msg in msgs:
      can_list = can_capnp_to_list([msg])
-      for cp in tm.CI.can_parsers.values():
+      for cp in tm.CI.can_parsers:
        if cp is not None:
          cp.update_strings(can_list)
    ets.append((time.process_time_ns() - start_t) * 1e-6)
@@ -8,7 +8,6 @@ from typing import cast

 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
-from openpilot.selfdrive.test.process_replay.migration import migrate_all

 if __name__ == "__main__":
  cnt_events: Counter = Counter()
@@ -21,7 +20,7 @@ if __name__ == "__main__":
  start_time = math.inf
  end_time = -math.inf
  ignition_off = None
-  for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
+  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
    t = (msg.logMonoTime - start_time) / 1e9
    end_time = max(end_time, msg.logMonoTime)
    start_time = min(start_time, msg.logMonoTime)
@@ -22,7 +22,7 @@ def get_fingerprint(lr):
          msgs[c.address] = len(c.dat)

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

@@ -25,7 +25,7 @@ while True:
    if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
      msgs[c.address] = len(c.dat)

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

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

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

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

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

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

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

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

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


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


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


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

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

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

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

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


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

  def test_accel_off(self):
    """
@@ -157,21 +146,3 @@ class TestLocationdScenarios:
    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-
-  def test_single_timing_spike(self):
-    """
-    Test: timing of 150ms off for the single accelerometer message in the middle of the segment
-    Expected Result: the message is ignored, and inputsOK is False for that time
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_SPIKE_MIDWAY, self.logs)
-    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
-    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
-
-  def test_consistent_timing_spikes(self):
-    """
-    Test: consistent timing spikes for N accelerometer messages in the middle of the segment
-    Expected Result: inputsOK becomes False after N of bad measurements
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
@@ -12,14 +12,15 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.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 +63,25 @@ 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()
@@ -121,6 +126,7 @@ def main():
  cl_context = CLContext()
  model = ModelState(cl_context)
  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+  Params().put_bool("DmModelInitialized", True)

  cloudlog.warning("connecting to driver stream")
  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
@@ -133,23 +139,18 @@ 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))
@@ -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
@@ -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
@@ -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));
-}
+}
@@ -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;
+};
@@ -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*)
@@ -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)
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
-size 51452435
+oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
+size 50320138
@@ -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,))
@@ -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)
@@ -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'])
@@ -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];
+}
@@ -145,10 +145,6 @@ void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
  handle->control_write(0xde, bus, (speed * 10));
 }

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

-  for (int i = 0; i < PANDA_BUS_CNT; i++) {
-    panda->set_can_fd_auto(i, true);
-  }
-
  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
  }
@@ -416,7 +412,6 @@ 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;
    }
  }
@@ -239,7 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
        // due to full TX buffers
        nack_count += 1;
        if (nack_count > 3) {
-          SPILOG(LOGD, "NACK sleep %d", nack_count);
+          SPILOG(LOGE, "NACK sleep %d", nack_count);
          usleep(std::clamp(nack_count*10, 200, 2000));
        }
      }
@@ -418,7 +418,7 @@ fail:
    }
  }

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

-  @retry(attempts=3)
  def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
    self._go_to_dfu()
    pd = PandaDFU(None)
@@ -14,7 +14,7 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.system.hardware import TICI
-from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.helpers import phone_only, with_processes


@retry(attempts=3)
@@ -72,6 +72,7 @@ class TestBoarddLoopback:
    os.environ['STARTED'] = '1'
    os.environ['BOARDD_LOOPBACK'] = '1'

+  @phone_only
  @with_processes(['pandad'])
  def test_loopback(self):
    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
@@ -7,7 +7,7 @@ import random
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
-from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages

 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@@ -23,6 +23,7 @@ class TestBoarddSpi:
    if not JUNGLE_SPAM:
      os.environ['BOARDD_LOOPBACK'] = '1'

+  @phone_only
  @with_processes(['pandad'])
  def test_spi_corruption(self, subtests):
    setup_pandad(1)
@@ -42,7 +42,7 @@ class TestAlerts:

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

  # ensure alert text doesn't exceed allowed width
@@ -10,6 +10,7 @@ from functools import wraps
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version


@@ -28,6 +29,14 @@ def set_params_enabled():
  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
  params.put("CalibrationParams", msg.to_bytes())

+def phone_only(f):
+  @wraps(f)
+  def wrap(self, *args, **kwargs):
+    if PC:
+      pytest.skip("This test is not meant to run on PC")
+    return f(self, *args, **kwargs)
+  return wrap
+
 def release_only(f):
  @wraps(f)
  def wrap(self, *args, **kwargs):
@@ -7,20 +7,19 @@ import tempfile
 from itertools import zip_longest

 import matplotlib.pyplot as plt
-import numpy as np

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

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

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


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

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

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


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

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

  log_msgs = []
  # run replays
@@ -5,13 +5,13 @@ import copy
 import json
 import heapq
 import signal
+import platform
 from collections import Counter, OrderedDict
 from dataclasses import dataclass, field
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
 import capnp
-from openpilot.system.hardware.hw import Paths

 import cereal.messaging as messaging
 from cereal import car
@@ -780,7 +780,8 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non

 def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> dict[str, Any]:
  environ_dict = {}
-  environ_dict["PARAMS_ROOT"] = f"{Paths.shm_path()}/params"
+  if platform.system() != "Darwin":
+    environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
  if log_dir is not None:
    environ_dict["LOG_ROOT"] = log_dir

@@ -1 +1 @@
-cae12bc0a2960de17104a9e22fafe33d797fbcee
+dd0a40182707975c94a40d19198cd60c88735199
@@ -72,7 +72,7 @@ PROCS = {

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

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

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

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

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

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

  def test_gpu_usage(self):
    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
@@ -378,8 +368,6 @@ 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"
@@ -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],
@@ -82,31 +83,32 @@ 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'):
  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
+
+SConscript(['raylib/SConscript'])
@@ -124,7 +124,6 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
    // left: PrimeAdWidget
    QStackedWidget *left_widget = new QStackedWidget(this);
    QVBoxLayout *left_prime_layout = new QVBoxLayout();
-    left_prime_layout->setContentsMargins(0, 0, 0, 0);
    QWidget *prime_user = new PrimeUserWidget();
    prime_user->setStyleSheet(R"(
    border-radius: 10px;
@@ -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");
@@ -408,7 +408,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
  std::stringstream buffer;
  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
+  if (voltage > 0 && voltage < 7) {
    addWidget(low_voltage());
  }

@@ -0,0 +1 @@
+_spinner
@@ -0,0 +1,17 @@
+Import('env', 'arch', 'common')
+
+raylib_env = env.Clone()
+raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
+linked_libs = ['raylib', raylib_util_lib, common]
+raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+
+mac_frameworks = []
+if arch == "Darwin":
+  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
+elif arch == 'larch64':
+  linked_libs += []
+else:
+  linked_libs += ['OpenCL', 'dl', 'pthread']
+
+if arch != 'aarch64':
+  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jason Wen	b24e762592	more	2024-11-21 10:40:58 -05:00
Jason Wen	ed8812e730	FCA: S20 init	2024-11-21 10:18:40 -05:00
DevTekVE	36f8192612	ci: sunnypilot UI GH Action fix ensure push to master-ui artifact (#453 ) Fixes the GitHub action that was failing when the pipeline was running as a result of a push to master-new because it was not properly recognized as "master"	2024-11-17 09:49:37 +01:00
DevTekVE	4b66cd0577	ci: fix repo permissions in ui preview (#450 ) * more fix * forcing a change on UI to test * undo ui change for test * temp add branch * adding more ways to set the master uo * more bruteforce * undoing force	2024-11-16 22:27:29 -05:00
DevTekVE	ad742515f1	ci: sunnypilot show UI diff on PRs (#449 ) add master-new as well to the triggers for the diff ui	2024-11-16 23:45:12 +01:00
Jason Wen	2426354d72	bump opendbc (#448 ) * bump opendbc * Bump opendbc to our changed car params * New Int16 test * spFlags * original name? * Testing more carparams combinations * Another crazy idea * typo * use this field * bump * bump opendbc --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2024-11-16 17:04:12 -05:00
DevTekVE	cf55992c26	CI: sunnypilot configuration (#447 ) * initial updates to the actions to run for sp * ignore license file * more updates * undoing some of the changes because I was blocking the runs on * allowing the submodule check as well * Allowing macos builds * test adding cache key * don't attempt build_release for selfdrive for the time being. * Blocking macos builds as well since they have a 10x miltiplier for GH aciton minutes, waaaay too much! * lol nice typo codespell * change ref commit id to check if replay passes	2024-11-16 10:24:47 -05:00
DevTekVE	3da0dfd47f	Updating submodules	2024-11-15 08:16:52 +01:00
Jason Wen	6edaf619bf	Add Custom MIT License (#438 )	2024-11-15 08:11:51 +01:00