Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025-new-comma

# Conflicts:
#	opendbc_repo

.gitattributes

@@ -11,4 +11,4 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-openpilot/common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text

.github/pull_request_template.md

@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
--->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
--->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
--->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
-- [ ] added entry to CAR in openpilot/selfdrive/car/*/values.py and ran `openpilot/selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
--->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
--->
-

.github/workflows/build-single-tinygrad-model.yaml

@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -63,12 +63,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2025 World Models
+          - 2026 World Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'

.github/workflows/diff_report.yaml

@@ -40,6 +40,7 @@ jobs:
         echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
     - name: Download diff
       if: steps.wait.outcome == 'success'
+      continue-on-error: true
       uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -48,7 +49,7 @@ jobs:
         name: diff_report_${{ github.event.number }}
         path: .
     - name: Comment on PR
-      if: steps.wait.outcome == 'success'
+      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
       uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
       with:
         file-path: diff_report.txt

.github/workflows/docs.yaml

@@ -15,6 +15,11 @@ concurrency:
   group: docs-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:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   docs:
     name: build docs
@@ -30,8 +35,7 @@ jobs:
     - name: Build docs
       run: |
         git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        python docs/serve.py --build
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v7
@@ -52,7 +56,7 @@ jobs:
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs_site/ docs/
+        cp -r ../docs/_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll

.github/workflows/lfs-maintenance.yaml

@@ -65,8 +65,21 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Configure LFS transfer settings
+        run: |
+          git config lfs.activitytimeout 300
+          git config lfs.transfer.maxretries 5
+          git config lfs.concurrenttransfers 4
+
       - name: Push LFS
         id: sync-and-commit
         run: |
           git lfs ls-files -l
-          git lfs push --all origin
+          for attempt in 1 2 3; do
+            echo "Push attempt $attempt..."
+            git lfs push --all origin && exit 0
+            echo "Attempt $attempt failed, retrying in 30s..."
+            sleep 30
+          done
+          echo "All push attempts failed"
+          exit 1

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'openpilot/selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v7
-        with:
-          submodules: true
-      - name: Checkout master
-        uses: actions/checkout@v7
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/release.yaml

@@ -4,6 +4,11 @@ on:
     - cron: '0 9 * * *'
   workflow_dispatch:
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   build___nightly:
     name: build __nightly

.github/workflows/repo-maintenance.yaml

@@ -9,6 +9,9 @@ on:
 
 env:
   PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   package_updates:
@@ -81,7 +84,7 @@ jobs:
         labels: bot
 
   cleanup_closed_branches:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
     runs-on: ubuntu-latest
     permissions:
       contents: write
@@ -93,6 +96,14 @@ jobs:
             const { owner, repo } = context.repo;
             const upstream = `${owner}/${repo}`;
 
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
             for await (const response of github.paginate.iterator(github.rest.pulls.list, {
               owner,
               repo,

.github/workflows/sunnypilot-build-model.yaml

@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - usbgpu
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -161,19 +174,30 @@ jobs:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ env.MODELS_DIR }}
       - run: |
-          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
           COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
+            echo "USBGPU build"
+            export USBGPU=1
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
+            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
@@ -186,7 +210,13 @@ jobs:
           POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
           OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
           ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+          SUPERCOMBO_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
+          done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
           if [ -f "$VISION_ONNX" ]; then
@@ -207,24 +237,15 @@ jobs:
           fi
 
           if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
             env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
               --model-type $MODEL_TYPE \
               --model-size $MODEL_SIZE \
               --camera-resolutions $CAMERA_RES \
               $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+              --output "$OUTPUT_PKL"
           fi
 
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}

.github/workflows/tests.yaml

@@ -20,7 +20,9 @@ concurrency:
 env:
   CI: 1
   PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   build_release:
@@ -125,14 +127,10 @@ jobs:
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
       env:
         RAYLIB_BACKEND: headless
-      run: |
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
+      run: tools/op.sh test
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
@@ -169,14 +167,14 @@ jobs:
         name: diff_report_${{ github.event.number }}
         path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       uses: actions/checkout@v7
       with:
-        repository: commaai/ci-artifacts
+        repository: sunnypilot/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"
@@ -188,18 +186,12 @@ jobs:
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
     - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py
 
   simulator_driving:
     name: simulator driving
@@ -220,7 +212,7 @@ jobs:
       env:
         # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
         EGL_PLATFORM: surfaceless
-      run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
+      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report

.gitignore

@@ -15,7 +15,7 @@ a.out
 .cache/
 bin/
 
-# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
 /msgq
 /opendbc
 /rednose
@@ -39,6 +39,8 @@ bin/
 *.os-*
 *.so
 *.a
+st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
+*.unchunked
 *.clb
 *.class
 *.pyxbldc
@@ -54,7 +56,7 @@ compare_runtime*.html
 openpilot/selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
-docs_site/
+docs/_site/
 openpilot/selfdrive/pandad/pandad
 openpilot/cereal/services.h
 openpilot/cereal/gen

Jenkinsfile

@@ -30,14 +30,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*
@@ -206,35 +206,35 @@ node {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd openpilot/system/manager && ./build.py"),
           step("check dirty", "tools/release/check-dirty.sh"),
-          step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
-          step("test encoder", "pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
-          step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
+          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
@@ -246,9 +246,9 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad loopback", "pytest openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest openpilot/common/hardware/tici/tests/test_amplifier.py"),
+          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
         ])
       },
 

RELEASES.md

@@ -1,6 +1,14 @@
-Version 0.11.2 (2026-06-15)
-========================
-
+Version 0.11.2 (2026-08-12)
+=======================
+* New driving model
+  * Big model with 880M parameters
+* Support for big models running on an external GPU
+* Live stream cameras from comma connect
+* Generate dashcam clips from comma connect
+* Remote comma body control from comma connect
+* New alert sounds
+* CUPRA Born 2021-2023 support thanks to DaHansi!
+* Volkswagen ID.4 2021-2025 support thanks to DaHansi!
 
 Version 0.11.1 (2026-05-18)
 ========================

SConstruct

@@ -10,7 +10,7 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
-TICI = os.path.isfile('/TICI')
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
 
 SCons.Warnings.warningAsException(True)
 
@@ -24,7 +24,7 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 submodule_python_paths = [
@@ -46,22 +46,22 @@ if external_pythonpath := os.environ.get("PYTHONPATH"):
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
 # Shared package ships .so/.dylib; older device venvs still have static .a only.
 # Keep static link deps (x264/z/va/drm) when the installed package is static so
-# TICI CI works without upgrading the device venv yet.
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
 # TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
 _ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
 ffmpeg_shared = any(
@@ -129,10 +129,11 @@ env = Environment(
   CCFLAGS=[
     "-g",
     "-fPIC",
+    "-pipe",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -164,19 +165,24 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
+if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
+if arch == "comma_arm64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -228,7 +234,7 @@ Export('envCython', 'np_version')
 Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
@@ -275,7 +281,7 @@ SConscript([
   'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
+if arch == "comma_arm64":
   SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
@@ -290,7 +296,7 @@ SConscript([
 SConscript(['openpilot/sunnypilot/SConscript'])
 
 # Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+if GetOption('extras') and arch != "comma_arm64":
   SConscript([
     'openpilot/tools/replay/SConscript',
     'openpilot/tools/cabana/SConscript',

conftest.py

@@ -1,99 +0,0 @@
-import contextlib
-import gc
-import os
-import pytest
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.system.manager import manager
-from openpilot.common.hardware import TICI, HARDWARE
-
-# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
-collect_ignore = [
-  "openpilot/selfdrive/test/process_replay/test_processes.py",
-  "openpilot/selfdrive/test/process_replay/test_regen.py",
-
-  "openpilot/tools/sim/",
-
-  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
-  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "openpilot/sunnypilot/modeld_v2/tests/test_warp.py",
-]
-
-
-def pytest_sessionstart(session):
-  # TODO: fix tests and enable test order randomization
-  if session.config.pluginmanager.hasplugin('randomly'):
-    session.config.option.randomly_reorganize = False
-
-
-@pytest.hookimpl(hookwrapper=True, trylast=True)
-def pytest_runtest_call(item):
-  # ensure we run as a hook after capturemanager's
-  if item.get_closest_marker("nocapture") is not None:
-    capmanager = item.config.pluginmanager.getplugin("capturemanager")
-    with capmanager.global_and_fixture_disabled():
-      yield
-  else:
-    yield
-
-
-@contextlib.contextmanager
-def clean_env():
-  starting_env = dict(os.environ)
-  yield
-  os.environ.clear()
-  os.environ.update(starting_env)
-
-
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
-  with clean_env():
-    # setup a clean environment for each test
-    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-      prefix = os.environ["OPENPILOT_PREFIX"]
-
-      yield
-
-      # ensure the test doesn't change the prefix
-      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
-
-    # cleanup any started processes
-    manager.manager_cleanup()
-
-    # some processes disable gc for performance, re-enable here
-    if not gc.isenabled():
-      gc.enable()
-      gc.collect()
-
-# If you use setUpClass, the environment variables won't be cleared properly,
-# so we need to hook both the function and class pytest fixtures
-@pytest.fixture(scope="class", autouse=True)
-def openpilot_class_fixture():
-  with clean_env():
-    yield
-
-
-@pytest.fixture(scope="function")
-def tici_setup_fixture(request, openpilot_function_fixture):
-  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
-  if 'skip_tici_setup' in request.keywords:
-    return
-  HARDWARE.initialize_hardware()
-  HARDWARE.set_power_save(False)
-  os.system("pkill -9 -f athena")
-
-
-@pytest.hookimpl(tryfirst=True)
-def pytest_collection_modifyitems(config, items):
-  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
-  for item in items:
-    if "tici" in item.keywords:
-      if not TICI:
-        item.add_marker(skipper)
-      else:
-        item.fixturenames.append('tici_setup_fixture')
-
-    if "xdist_group_class_property" in item.keywords:
-      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
-      class_property_value = getattr(item.cls, class_property_name)
-      item.add_marker(pytest.mark.xdist_group(class_property_value))

docs/AI_POLICY.md

@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.

docs/CARS.md

@@ -1,10 +1,10 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 341 Supported Cars
+# 342 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|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 F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|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 G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|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 E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -230,14 +230,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||

docs/CONTRIBUTING.md

@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -35,6 +37,7 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 
@@ -58,7 +61,7 @@ A good pull request has all of the following:
 
 * Report bugs in GitHub issues.
 * Report driving issues in the `#driving-feedback` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Consider opting into cabin camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).

docs/DEVELOPMENT.md

@@ -1,24 +0,0 @@
-# Docs development
-
-The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-uv pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-docs build
-```
-
-**3. Run the new site locally**
-``` bash
-docs serve
-```
-
-References:
-* https://zensical.org/docs/

docs/LIMITATIONS.md

@@ -52,7 +52,7 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
+* The driver's face is partially or completely outside field of view of the cabin camera.
+* The cabin camera is obstructed, covered, or damaged.
 
 The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

docs/README.md

@@ -0,0 +1,14 @@
+# Docs development
+
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+**1. Build the site**
+``` bash
+python docs/serve.py --build
+```
+
+**2. Run the site locally** (rebuilds on change)
+``` bash
+python docs/serve.py
+```

docs/assets/comma-logo.png

@@ -1 +1 @@
-../../selfdrive/assets/icons_mici/settings/comma_icon.png
+../../openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png

docs/assets/favicon.svg

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e019ed5af500e8820d05934d47e0380728e1b30e01a179f786dc4edb1eccbd7
+size 349

docs/concepts/glossary.md

@@ -1,3 +0,0 @@
-# openpilot glossary
-
-{{GLOSSARY_DEFINITIONS}}

docs/concepts/logs.md

@@ -10,13 +10,13 @@ For each segment, openpilot records the following log types:
 
 rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
-## {f,e,d}camera.hevc
+## camera video files
 
 Each camera stream is H.265 encoded and written to its respective file.
 
-* `fcamera.hevc` is the road camera
+* `fcamera.hevc` is the narrow road camera (the main forward camera)
 * `ecamera.hevc` is the wide road camera
-* `dcamera.hevc` is the driver camera
+* `dcamera.hevc` is the cabin camera
 
 ## qlog.zst & qcamera.ts
 

docs/contributing/feedback.md

@@ -21,14 +21,14 @@ In general, driver monitoring feedback is very actionable, and we can fix your c
 To post your feedback:
 
 1. Join the [community Discord](https://discord.comma.ai).
-2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
-3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
+2. If cabin camera recording is toggled off, temporarily enable cabin camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and cabin camera.
 4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
 
 Before posting feedback, please ensure:
 
 - **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **the cabin camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
 - **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
 
 ## Other bugs

docs/ext/glossary.py

@@ -1,216 +0,0 @@
-import posixpath
-import re
-import tomllib
-import xml.etree.ElementTree as ET
-from pathlib import Path
-
-from markdown.extensions import Extension
-from markdown.preprocessors import Preprocessor
-from markdown.treeprocessors import Treeprocessor
-
-from zensical.extensions.links import LinksTreeprocessor
-
-GlossaryTerm = tuple[str, re.Pattern[str], str]
-
-GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
-GLOSSARY_PAGE = "concepts/glossary.md"
-GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
-
-SKIP_TAGS = {
-  "a",
-  "code",
-  "h1",
-  "h2",
-  "h3",
-  "h4",
-  "h5",
-  "h6",
-  "kbd",
-  "pre",
-  "script",
-  "style",
-}
-
-def clean_tooltip(description: str) -> str:
-  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
-  text = re.sub(r"`([^`]+)`", r"\1", text)
-  text = re.sub(r"[*_~]", "", text)
-  return re.sub(r"\s+", " ", text).strip()
-
-
-def load_glossary() -> tuple[list[GlossaryTerm], str]:
-  with GLOSSARY_FILE.open("rb") as f:
-    glossary_data = tomllib.load(f).get("glossary", {})
-
-  glossary: list[GlossaryTerm] = []
-  rendered = []
-  for key, value in glossary_data.items():
-    label = str(key).strip().replace("_", " ")
-    description = str(value).strip()
-    if not description:
-      continue
-
-    slug = label.replace(" ", "-").replace("_", "-").lower()
-    glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
-    rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
-
-  return glossary, "\n".join(rendered)
-
-
-class GlossaryPreprocessor(Preprocessor):
-  def __init__(self, md, glossary: str):
-    super().__init__(md)
-    self.glossary = glossary
-
-  def run(self, lines: list[str]) -> list[str]:
-    markdown = "\n".join(lines)
-    if GLOSSARY_PLACEHOLDER not in markdown:
-      return lines
-    return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
-
-
-class GlossaryTreeprocessor(Treeprocessor):
-  def __init__(self, md, glossary: list[GlossaryTerm]):
-    super().__init__(md)
-    self.glossary = glossary
-    self.seen: set[str] = set()
-
-  def run(self, root: ET.Element) -> None:
-    at = self.md.treeprocessors.get_index_for_name("zrelpath")
-    processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksTreeprocessor):
-      raise TypeError("Links processor not registered")
-    if processor.path == GLOSSARY_PAGE:
-      return
-
-    self.seen.clear()
-    glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
-    self._walk(root, glossary_href)
-
-  def _walk(self, element: ET.Element, glossary_href: str) -> None:
-    if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
-      return
-
-    self._replace(element, glossary_href)
-
-    idx = 0
-    while idx < len(element):
-      child = element[idx]
-      self._walk(child, glossary_href)
-      idx = self._replace(element, glossary_href, idx) + 1
-
-  def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
-    child = None if index is None else parent[index]
-    text = parent.text if child is None else child.tail
-    pieces = self._pieces(text or "", glossary_href)
-    if not pieces:
-      return -1 if index is None else index
-
-    if child is None:
-      parent.text = pieces[0] if isinstance(pieces[0], str) else ""
-      # Insert replacements for parent.text before the first existing child.
-      insert_at = -1
-    else:
-      assert index is not None
-      child.tail = pieces[0] if isinstance(pieces[0], str) else ""
-      insert_at = index
-
-    start = 1 if isinstance(pieces[0], str) else 0
-    previous = child
-
-    for piece in pieces[start:]:
-      if isinstance(piece, str):
-        previous.tail = (previous.tail or "") + piece
-        continue
-
-      insert_at += 1
-      parent.insert(insert_at, piece)
-      previous = piece
-
-    return insert_at
-
-  def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
-    if not text.strip():
-      return []
-
-    pieces: list[str | ET.Element] = []
-    cursor = 0
-
-    while True:
-      best = None
-      for slug, pattern, tooltip in self.glossary:
-        if slug in self.seen:
-          continue
-
-        found = pattern.search(text, cursor)
-        if found is None:
-          continue
-
-        candidate = (slug, tooltip, found.start(), found.end())
-        if best is None:
-          best = candidate
-          continue
-
-        _, _, best_start, best_end = best
-        _, _, current_start, current_end = candidate
-        if current_start < best_start:
-          best = candidate
-          continue
-
-        if current_start == best_start and current_end - current_start > best_end - best_start:
-          best = candidate
-
-      if best is None:
-        break
-
-      slug, tooltip, start, end = best
-      if start > cursor:
-        pieces.append(text[cursor:start])
-
-      link = ET.Element(
-        "a",
-        {
-          "class": "glossary-term",
-          "data-glossary-term": "",
-          "href": f"{glossary_href}{slug}",
-        },
-      )
-      ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
-      ET.SubElement(
-        link,
-        "span",
-        {
-          "class": "glossary-term__tooltip",
-          "data-search-exclude": "",
-        },
-      ).text = tooltip
-      pieces.append(link)
-      self.seen.add(slug)
-      cursor = end
-
-    if not pieces:
-      return []
-    if cursor < len(text):
-      pieces.append(text[cursor:])
-    return pieces
-
-
-class GlossaryExtension(Extension):
-  def extendMarkdown(self, md) -> None:
-    md.registerExtension(self)
-    glossary, rendered = load_glossary()
-
-    md.preprocessors.register(
-      GlossaryPreprocessor(md, rendered),
-      "docs-ext-glossary-preprocessor",
-      27,
-    )
-    md.treeprocessors.register(
-      GlossaryTreeprocessor(md, glossary),
-      "docs-ext-glossary-treeprocessor",
-      0,
-    )
-
-
-def makeExtension(**kwargs) -> GlossaryExtension:
-  return GlossaryExtension(**kwargs)

docs/ext/glossary.toml

@@ -1,8 +0,0 @@
-[glossary]
-onroad = "openpilot's system state while ignition is on."
-offroad = "openpilot's system state while ignition is off."
-route = "A route is a recording of an onroad session."
-segment = "Routes are split into one minute chunks called segments."
-"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)."
-panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)."
-"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)."

docs/serve.py

@@ -0,0 +1,555 @@
+import argparse
+import functools
+import html
+import http.server
+import json
+import posixpath
+import re
+import shutil
+import threading
+import time
+import urllib.parse
+from pathlib import Path
+
+DOCS_DIR = Path(__file__).resolve().parent
+SITE_DIR = DOCS_DIR / "_site"
+TEMPLATE_FILE = DOCS_DIR / "template.html"
+EXCLUDE_DIRS = {"_site", "__pycache__"}
+
+REPO_URL = "https://github.com/commaai/openpilot/"
+
+# (title, target) pairs. target is a page path or an absolute URL.
+# A None target marks a section header.
+NAV: list[tuple[str, str | None]] = [
+  ("What is openpilot?", "index.md"),
+  ("How-to", None),
+  ("Turn the speed blue", "how-to/turn-the-speed-blue.md"),
+  ("Connect to a comma 3X or four", "how-to/connect-to-comma.md"),
+  ("Add support for a car", "how-to/car-port.md"),
+  ("Concepts", None),
+  ("Logs", "concepts/logs.md"),
+  ("Safety", "concepts/safety.md"),
+  ("Glossary", "concepts/glossary.md"),
+  ("Contributing", None),
+  ("Feedback", "contributing/feedback.md"),
+  ("Roadmap", "contributing/roadmap.md"),
+  ("Contributing Guide →", "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"),
+  ("Links", None),
+  ("Blog →", "https://blog.comma.ai"),
+  ("Bounties →", "https://comma.ai/bounties"),
+  ("GitHub →", "https://github.com/commaai"),
+  ("Discord →", "https://discord.comma.ai"),
+  ("X →", "https://x.com/comma_ai"),
+]
+
+GLOSSARY_DESCRIPTIONS = {
+  "onroad": "openpilot's system state while ignition is on.",
+  "offroad": "openpilot's system state while ignition is off.",
+  "route": "A route is a recording of an onroad session.",
+  "segment": "Routes are split into one minute chunks called segments.",
+  "comma connect": "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).",
+  "panda": "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).",
+  "comma four": "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).",
+}
+GLOSSARY_PAGE = "concepts/glossary.md"
+GLOSSARY_ROUTE = GLOSSARY_PAGE.removesuffix(".md")
+GLOSSARY_SKIP = frozenset("a code h1 h2 h3 h4 h5 h6 kbd pre script style".split())
+
+_ENTITY = re.compile(r"&(?:#x?[0-9a-fA-F]+|[a-zA-Z]+);")
+_LIST = re.compile(r"^(\s*)([*+-]|\d+\.)\s+(.*)$")
+_HEADING = re.compile(r"^(#{1,6})\s+(.*)$")
+_HR = re.compile(r"^(-{3,}|\*{3,}|_{3,})$")
+_ATTR_URL = re.compile(r"""(?P<pre>\b(?:href|src)=(?P<q>["']))(?P<url>.*?)(?P=q)""")
+_VOID = frozenset("br img hr meta link input".split())
+_URL = re.compile(r"https?://[^\s<>\[\]\"']+")
+_ADMONITION = re.compile(r"^\[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]$", re.I)
+
+
+def page_route(path: str) -> str:
+  path = path.removesuffix(".md")
+  return posixpath.dirname(path) or "." if posixpath.basename(path) == "index" else path
+
+
+def page_href(current: str, target: str) -> str:
+  route = posixpath.relpath(page_route(target), page_route(current))
+  return ("." if route == "." else route) + "/"
+
+
+def rewrite_relative_url(value: str, page: str) -> str | None:
+  url = urllib.parse.urlparse(value)
+  if value.startswith(("#", "/")) or url.scheme or url.netloc or not url.path:
+    return None
+  target = posixpath.normpath(posixpath.join(posixpath.dirname(page), url.path))
+  if target == ".." or target.startswith("../"):
+    return None
+  path = page_href(page, target) if target.endswith(".md") else posixpath.relpath(target, page_route(page))
+  return url._replace(path=path).geturl()
+
+
+def rewrite_html_urls(fragment: str, page: str) -> str:
+  def repl(m: re.Match[str]) -> str:
+    r = rewrite_relative_url(m.group("url"), page)
+    return m.group(0) if r is None else f'{m.group("pre")}{r}{m.group("q")}'
+
+  return _ATTR_URL.sub(repl, fragment)
+
+
+def esc(text: str, attr: bool = False) -> str:
+  held: list[str] = []
+
+  def hold(m: re.Match[str]) -> str:
+    held.append(m.group(0))
+    return f"\0{len(held) - 1}\0"
+
+  return re.sub(r"\0(\d+)\0", lambda m: held[int(m.group(1))], html.escape(_ENTITY.sub(hold, text), quote=attr))
+
+
+def clean_tooltip(description: str) -> str:
+  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
+  return re.sub(r"\s+", " ", re.sub(r"[*_~]", "", re.sub(r"`([^`]+)`", r"\1", text))).strip()
+
+
+def glossary_slug(label: str) -> str:
+  return label.replace(" ", "-").replace("_", "-").lower()
+
+
+GLOSSARY_TERMS = [(glossary_slug(l), re.compile(rf"(?<!\w){re.escape(l)}(?!\w)", re.I), clean_tooltip(d)) for l, d in GLOSSARY_DESCRIPTIONS.items()]
+GLOSSARY_DEFINITIONS = "\n".join(f'* <span id="{glossary_slug(l)}"></span>**{l}**: {d}' for l, d in GLOSSARY_DESCRIPTIONS.items())
+
+
+def inject_glossary(body: str, page: str) -> str:
+  if page == GLOSSARY_PAGE:
+    return body
+  route = "." if page == "index.md" else page.removesuffix(".md")
+  base, seen, out, skip, depth = f"{posixpath.relpath(GLOSSARY_ROUTE, route)}/#", set(), [], None, 0
+  for part in re.split(r"(<[^>]+>)", body):
+    if not part:
+      continue
+    if part.startswith("<"):
+      out.append(part)
+      if part.startswith("<!") or not (m := re.match(r"</?\s*([a-zA-Z0-9]+)", part)):
+        continue
+      tag = m.group(1).lower()
+      if tag not in GLOSSARY_SKIP:
+        continue
+      closing, void = part.startswith("</"), part.endswith("/>") or tag in _VOID
+      if closing and skip == tag and depth:
+        depth -= 1
+        skip = None if not depth else skip
+      elif not closing and not void:
+        skip, depth = (tag, 1) if skip is None else (skip, depth + (skip == tag))
+      continue
+    if depth:
+      out.append(part)
+      continue
+    cur, text = 0, part
+    while True:
+      best = None
+      for order, (slug, pat, tip) in enumerate(GLOSSARY_TERMS):
+        if slug in seen or (found := pat.search(text, cur)) is None:
+          continue
+        cand = (found.start(), found.start() - found.end(), order, slug, tip, found.end(), found.group(0))
+        if best is None or cand[:3] < best[:3]:
+          best = cand
+      if best is None:
+        out.append(text[cur:])
+        break
+      start, _, _, slug, tip, end, matched = best
+      out.append(text[cur:start])
+      out.append(
+        f'<a class="glossary-term" data-glossary-term="" href="{base}{slug}">'
+        + f'<span class="glossary-term__label">{matched}</span>'
+        + f'<span class="glossary-term__tooltip" data-search-exclude="">{esc(tip)}</span></a>'
+      )
+      seen.add(slug)
+      cur = end
+  return "".join(out)
+
+
+def slugify(text: str) -> str:
+  text = html.unescape(re.sub(r"<[^>]+>", "", text)).lower()
+  return re.sub(r"[-\s]+", "-", re.sub(r"[^\w\s-]", "", text, flags=re.UNICODE)).strip("-")
+
+
+def _parse_link(text: str, start: int) -> tuple[str, str, int] | None:
+  if start >= len(text) or text[start] != "[":
+    return None
+  depth, i = 0, start
+  while i < len(text):
+    depth += (text[i] == "[") - (text[i] == "]")
+    if text[i] == "]" and depth == 0:
+      label = text[start + 1 : i]
+      if i + 1 >= len(text) or text[i + 1] != "(":
+        return None
+      j, dp = i + 2, 1
+      while j < len(text) and dp:
+        dp += (text[j] == "(") - (text[j] == ")")
+        j += 1
+      return None if dp else (label, text[i + 2 : j - 1], j)
+    i += 1
+  return None
+
+
+def autolink_plain(text: str) -> str:
+  parts: list[str] = []
+  last = 0
+  for m in _URL.finditer(text):
+    start = m.start()
+    if start > 0 and text[start - 1].isalnum():
+      continue
+    parts.append(esc(text[last:start]))
+    url = m.group(0).rstrip(".,;:!?)]")
+    parts.append(f'<a href="{esc(url, True)}">{esc(url)}</a>')
+    last = start + len(url)
+  parts.append(esc(text[last:]))
+  return "".join(parts)
+
+
+def render_inline(text: str, page: str) -> str:
+  out, i, n = [], 0, len(text)
+  while i < n:
+    if text[i] == "\n" and i >= 2 and text[i - 2 : i] == "  " and out and out[-1].endswith("  "):
+      out[-1] = out[-1][:-2]
+      out.append("<br>\n")
+      i += 1
+      continue
+    if text[i] == "`" and (end := text.find("`", i + 1)) != -1:
+      out.append(f"<code>{esc(text[i + 1 : end])}</code>")
+      i = end + 1
+      continue
+    if text[i] == "!" and i + 1 < n and text[i + 1] == "[" and (p := _parse_link(text, i + 1)):
+      label, url, end = p
+      src = rewrite_relative_url(url, page) or url
+      out.append(f'<img alt="{esc(label, True)}" src="{esc(src, True)}">')
+      i = end
+      continue
+    if text[i] == "[" and (p := _parse_link(text, i)):
+      label, url, end = p
+      href = rewrite_relative_url(url, page) or url
+      out.append(f'<a href="{esc(href, True)}">{render_inline(label, page)}</a>')
+      i = end
+      continue
+    if text[i] == "<":
+      if text.startswith("<!--", i):
+        end = text.find("-->", i + 4)
+        end = n if end < 0 else end + 3
+        out.append(rewrite_html_urls(text[i:end], page))
+        i = end
+        continue
+      if m := re.match(r"<[^>]+>", text[i:]):
+        out.append(rewrite_html_urls(m.group(0), page))
+        i += len(m.group(0))
+        continue
+    if (text.startswith("**", i) or text.startswith("__", i)) and (end := text.find(text[i : i + 2], i + 2)) != -1:
+      out.append(f"<strong>{render_inline(text[i + 2 : end], page)}</strong>")
+      i = end + 2
+      continue
+    if text[i] in "*_" and i + 1 < n and text[i + 1] not in " \t\n" and (end := text.find(text[i], i + 1)) > i + 1:
+      out.append(f"<em>{render_inline(text[i + 1 : end], page)}</em>")
+      i = end + 1
+      continue
+    j = i + 1
+    while j < n and text[j] not in "`[<!*_":
+      j += 1
+    out.append(autolink_plain(text[i:j]))
+    i = j
+  return "".join(out)
+
+
+def _trow(line: str) -> list[str]:
+  return [c.strip() for c in line.strip().removeprefix("|").removesuffix("|").split("|")]
+
+
+def _is_sep(line: str) -> bool:
+  return "|" in line and all(re.fullmatch(r":?-{3,}:?", c.strip()) for c in _trow(line))
+
+
+def _align(sep: str) -> str:
+  s = sep.strip()
+  if s.startswith(":") and s.endswith(":"):
+    return ' style="text-align: center;"'
+  if s.endswith(":"):
+    return ' style="text-align: right;"'
+  if s.startswith(":"):
+    return ' style="text-align: left;"'
+  return ""
+
+
+def _list_info(line: str) -> tuple[int, str, str] | None:
+  m = _LIST.match(line)
+  return None if not m else (len(m.group(1)) // 4, "ol" if m.group(2)[-1] == "." else "ul", m.group(3))
+
+
+def _render_blocks(text: str, page: str) -> str:
+  lines, out, i, n = text.splitlines(), [], 0, 0
+  n = len(lines)
+  while i < n:
+    line, s = lines[i], lines[i].strip()
+    if not s:
+      i += 1
+      continue
+
+    if s.startswith("```"):
+      lang, body = s[3:].strip(), []
+      i += 1
+      while i < n and not lines[i].strip().startswith("```"):
+        body.append(lines[i])
+        i += 1
+      if i < n:
+        i += 1
+      code = html.escape("\n".join(body) + ("\n" if body else ""))
+      cls = f' class="language-{html.escape(lang)}"' if lang else ""
+      out.append(f"<pre><code{cls}>{code}</code></pre>")
+      continue
+
+    if m := _HEADING.match(s):
+      content, level = m.group(2).rstrip("#").strip(), len(m.group(1))
+      sid = slugify(content)
+      out.append(f'<h{level} id="{sid}">{render_inline(content, page)}<a class="headerlink" href="#{sid}" title="Permanent link">#</a></h{level}>')
+      i += 1
+      continue
+
+    if _HR.fullmatch(s):
+      out.append("<hr>")
+      i += 1
+      continue
+
+    if "|" in line and i + 1 < n and _is_sep(lines[i + 1]):
+      headers, aligns = _trow(line), [_align(c) for c in _trow(lines[i + 1])]
+      i += 2
+      rows = []
+      while i < n and "|" in lines[i] and lines[i].strip():
+        rows.append(_trow(lines[i]))
+        i += 1
+      parts = (
+        ["<table>", "<thead>", "<tr>"]
+        + [f"<th{aligns[j] if j < len(aligns) else ''}>{render_inline(h, page)}</th>" for j, h in enumerate(headers)]
+        + ["</tr>", "</thead>", "<tbody>"]
+      )
+      for row in rows:
+        parts.append("<tr>")
+        for j in range(len(headers)):
+          parts.append(f"<td{aligns[j] if j < len(aligns) else ''}>{render_inline(row[j] if j < len(row) else '', page)}</td>")
+        parts.append("</tr>")
+      out.append("\n".join(parts + ["</tbody>", "</table>"]))
+      continue
+
+    if _list_info(line):
+      items: list[tuple[int, str, list[str]]] = []
+      while i < n:
+        if not lines[i].strip():
+          if i + 1 < n and _list_info(lines[i + 1]):
+            i += 1
+            continue
+          break
+        info = _list_info(lines[i])
+        if not info:
+          break
+        level, kind, body = info
+        chunk = [body]
+        i += 1
+        while i < n and lines[i].strip() and _list_info(lines[i]) is None:
+          t = lines[i].strip()
+          if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+            break
+          chunk.append(lines[i])
+          i += 1
+        items.append((level, kind, chunk))
+
+      def render_list(items: list[tuple[int, str, list[str]]], start: int, min_level: int) -> tuple[str, int]:
+        if start >= len(items) or items[start][0] < min_level:
+          return "", start
+        kind, chunks, idx = items[start][1], [f"<{items[start][1]}>"], start
+        while idx < len(items) and items[idx][0] >= min_level:
+          level, ikind, body_lines = items[idx]
+          if level > min_level:
+            nested, idx = render_list(items, idx, level)
+            chunks[-1] = (chunks[-1][:-5] + nested + "</li>") if chunks[-1].endswith("</li>") else chunks[-1] + nested
+            continue
+          if ikind != kind:
+            chunks += [f"</{kind}>", f"<{ikind}>"]
+            kind = ikind
+          idx += 1
+          body = render_inline("\n".join(body_lines), page)
+          nested = ""
+          if idx < len(items) and items[idx][0] > min_level:
+            nested, idx = render_list(items, idx, min_level + 1)
+          chunks.append(f"<li>{body}{nested}\n</li>" if nested else f"<li>{body}</li>")
+        chunks.append(f"</{kind}>")
+        return "\n".join(chunks), idx
+
+      out.append(render_list(items, 0, items[0][0])[0])
+      continue
+
+    if s.startswith(">"):
+      q = []
+      while i < n and lines[i].strip().startswith(">"):
+        q.append(re.sub(r"^>\s?", "", lines[i].strip()))
+        i += 1
+      m = _ADMONITION.match(q[0].strip()) if q else None
+      if m:
+        kind = m.group(1).lower()
+        title = m.group(1).capitalize()
+        body = _render_blocks("\n".join(q[1:]), page)
+        out.append(f'<div class="admonition {kind}">\n<p class="admonition-title">{title}</p>\n{body}\n</div>')
+      else:
+        out.append(f"<blockquote>\n<p>{render_inline(chr(10).join(q), page)}</p>\n</blockquote>")
+      continue
+
+    if s.startswith("<!--"):
+      out.append(rewrite_html_urls(line, page))
+      i += 1
+      # Preserve a blank line after HTML comments (python-markdown does).
+      if i < n and not lines[i].strip():
+        out.append("")
+        while i < n and not lines[i].strip():
+          i += 1
+      continue
+
+    buf = [line]
+    i += 1
+    while i < n and lines[i].strip():
+      t = lines[i].strip()
+      if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+        break
+      if "|" in lines[i] and i + 1 < n and _is_sep(lines[i + 1]):
+        break
+      buf.append(lines[i])
+      i += 1
+    out.append(f"<p>{render_inline(chr(10).join(buf), page)}</p>")
+
+  return "\n".join(out)
+
+
+def render_markdown(text: str, page: str) -> str:
+  return inject_glossary(_render_blocks(text, page), page)
+
+
+def page_title(source: str) -> str:
+  for line in source.splitlines():
+    if line.startswith("# "):
+      return line[2:].strip()
+  return "openpilot docs"
+
+
+def write_html_redirect(rel: Path) -> None:
+  if rel.name == "index.md":
+    return
+  target = f"{rel.stem}/"
+  out = SITE_DIR / rel.with_suffix(".html")
+  out.parent.mkdir(parents=True, exist_ok=True)
+  out.write_text(
+    "\n".join(
+      [
+        "<!doctype html>",
+        f'<meta http-equiv="refresh" content="0; url={html.escape(target)}">',
+        f'<link rel="canonical" href="{html.escape(target)}">',
+        f"<script>location.replace({json.dumps(target)} + location.search + location.hash)</script>",
+      ]
+    )
+  )
+
+
+def copy_assets() -> None:
+  for src in DOCS_DIR.rglob("*"):
+    if not src.is_file():
+      continue
+    rel = src.relative_to(DOCS_DIR)
+    if any(part in EXCLUDE_DIRS for part in rel.parts):
+      continue
+    if src.suffix == ".md" or src in (Path(__file__).resolve(), TEMPLATE_FILE):
+      continue
+    dest = SITE_DIR / rel
+    dest.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copy2(src, dest)
+
+
+def render_nav_html(current_page: str) -> str:
+  parts: list[str] = []
+  for title, target in NAV:
+    if target is None:
+      parts.append(f'<div class="nav-section">{html.escape(title)}</div>')
+    elif target.startswith(("http://", "https://")):
+      parts.append(f'<a href="{html.escape(target)}">{html.escape(title)}</a>')
+    else:
+      active = ' class="active"' if target == current_page else ""
+      parts.append(f'<a href="{html.escape(page_href(current_page, target))}"{active}>{html.escape(title)}</a>')
+  return "\n".join(parts)
+
+
+def build() -> None:
+  template = TEMPLATE_FILE.read_text()
+  pages = [
+    (path.relative_to(DOCS_DIR), path.read_text())
+    for path in sorted(DOCS_DIR.rglob("*.md"))
+    if path != DOCS_DIR / "README.md" and not any(part in EXCLUDE_DIRS for part in path.relative_to(DOCS_DIR).parts)
+  ]
+  pages.append((Path(GLOSSARY_PAGE), f"# openpilot glossary\n\n{GLOSSARY_DEFINITIONS}"))
+  pages.sort()
+
+  if SITE_DIR.exists():
+    shutil.rmtree(SITE_DIR)
+  SITE_DIR.mkdir(parents=True)
+  copy_assets()
+
+  for rel_path, source in pages:
+    rel = rel_path.as_posix()
+    body = render_markdown(source, rel)
+    title = page_title(source)
+    route = page_route(rel)
+    root = "../" * (0 if route == "." else len(route.split("/")))
+    edit_path = "serve.py" if rel == GLOSSARY_PAGE else rel
+    page_html = template
+    for name, value in {
+      "TITLE": html.escape(title),
+      "ROOT": root,
+      "HOME_HREF": page_href(rel, "index.md"),
+      "NAV": render_nav_html(rel),
+      "BODY": body,
+      "EDIT_URL": html.escape(f"{REPO_URL}blob/master/docs/{edit_path}"),
+    }.items():
+      page_html = page_html.replace(f"{{{{{name}}}}}", value)
+    out = SITE_DIR / ("" if route == "." else route) / "index.html"
+    out.parent.mkdir(parents=True, exist_ok=True)
+    out.write_text(page_html)
+    write_html_redirect(rel_path)
+
+  print(f"docs: built {len(pages)} pages into {SITE_DIR}")
+
+
+def _watched_files() -> list[Path]:
+  return [p for p in DOCS_DIR.rglob("*") if p.is_file() and not any(part in EXCLUDE_DIRS for part in p.relative_to(DOCS_DIR).parts)]
+
+
+def serve() -> None:
+  build()
+  mtimes = {p: p.stat().st_mtime for p in _watched_files()}
+  handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(SITE_DIR))
+  httpd = http.server.ThreadingHTTPServer(("", 0), handler)
+  print(f"docs: serving on http://localhost:{httpd.server_port}/ (watching for changes)")
+  try:
+    threading.Thread(target=httpd.serve_forever, daemon=True).start()
+    while True:
+      time.sleep(0.5)
+      new_mtimes = {p: p.stat().st_mtime for p in _watched_files()}
+      if new_mtimes != mtimes:
+        mtimes = new_mtimes
+        print("docs: change detected, rebuilding...")
+        try:
+          build()
+        except Exception as e:
+          print(f"docs: build failed: {e}")
+  except KeyboardInterrupt:
+    pass
+  finally:
+    httpd.shutdown()
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Build or serve the openpilot documentation site.")
+  parser.add_argument("--build", action="store_true", help="Build the site and exit.")
+  args = parser.parse_args()
+  if args.build:
+    build()
+  else:
+    serve()

docs/stylesheets/extra.css

@@ -1,42 +0,0 @@
-.md-logo img {
-  filter: invert(1);
-}
-
-.glossary-term {
-  position: relative;
-  color: inherit;
-  text-decoration: none;
-}
-
-.glossary-term__label {
-  border-bottom: 1px dotted currentColor;
-}
-
-.glossary-term__tooltip {
-  position: absolute;
-  top: calc(100% + 0.4rem);
-  left: 50%;
-  width: max-content;
-  max-width: min(30rem, 80vw);
-  padding: 0.65rem 0.8rem;
-  border-radius: 0.6rem;
-  background: rgb(26 26 26 / 96%);
-  color: white;
-  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
-  font-size: 0.85rem;
-  line-height: 1.45;
-  opacity: 0;
-  pointer-events: none;
-  transform: translateX(-50%) translateY(-0.15rem);
-  transition: opacity 120ms ease, transform 120ms ease;
-  visibility: hidden;
-  z-index: 20;
-}
-
-.glossary-term:hover .glossary-term__tooltip,
-.glossary-term:focus-visible .glossary-term__tooltip,
-.glossary-term:focus-within .glossary-term__tooltip {
-  opacity: 1;
-  transform: translateX(-50%) translateY(0);
-  visibility: visible;
-}

docs/template.html

@@ -0,0 +1,224 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>{{TITLE}} · openpilot docs</title>
+  <link rel="icon" href="{{ROOT}}assets/favicon.svg">
+
+  <style>
+:root {
+  --bg: #fff;
+  --bg-elev: #f5f5f5;
+  --bg-hover: #eef0ff;
+  --fg: #262626;
+  --fg-dim: #666;
+  --accent: #4051b5;
+  --border: #e5e5e5;
+  --max-width: 76rem;
+}
+
+* { box-sizing: border-box; }
+html { scrollbar-gutter: stable; }
+html, body { margin: 0; padding: 0; }
+body {
+  background: var(--bg);
+  color: var(--fg);
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Helvetica, Arial, sans-serif;
+  line-height: 1.6;
+  font-size: 15px;
+}
+
+a { color: var(--accent); text-decoration: none; }
+a:hover { text-decoration: underline; }
+
+header.site {
+  display: flex; align-items: center; gap: 0.75rem;
+  min-height: 3rem;
+  padding: 0.5rem max(1.25rem, calc((100% - var(--max-width)) / 2));
+  background: var(--bg);
+  border-bottom: 1px solid var(--border);
+  position: sticky; top: 0; z-index: 10;
+}
+header.site img { display: block; height: 24px; filter: invert(1); }
+header.site .brand { display: flex; align-items: center; gap: 0.75rem; color: var(--fg); }
+header.site .brand:hover { text-decoration: none; }
+header.site .site-name { font-weight: 600; font-size: 1.05rem; }
+header.site .spacer { flex: 1; }
+header.site .social { display: flex; gap: 1rem; }
+header.site .social a { display: flex; color: var(--fg); }
+header.site .social a:hover { color: var(--accent); }
+header.site .social svg { width: 1.75rem; height: 1.75rem; fill: currentColor; }
+header.site .social a[aria-label="Discord"] svg { transform: scale(1.15); }
+
+.layout { display: flex; width: 100%; max-width: var(--max-width); margin: 0 auto; }
+
+nav.sidebar {
+  width: 14rem; flex-shrink: 0;
+  padding: 3.3rem 1.25rem 2rem 0;
+  position: sticky; top: 3rem; align-self: start;
+  max-height: calc(100vh - 3rem); overflow-y: auto;
+}
+nav.sidebar .nav-section { font-weight: 600; margin: 1.15rem 0.8rem 0.45rem; }
+nav.sidebar a {
+  display: block; padding: 0.28rem 0.8rem; border-radius: 0.45rem;
+  color: var(--fg); line-height: 1.35;
+}
+nav.sidebar a:hover { background: var(--bg-hover); text-decoration: none; }
+nav.sidebar a.active { background: var(--bg-hover); color: var(--accent); font-weight: 600; }
+
+main.content { width: min(100%, 46.5rem); min-width: 0; padding: 2.7rem 2rem 5rem; }
+main.content h1, main.content h2, main.content h3 { line-height: 1.25; margin-top: 1.8rem; }
+main.content h1 { margin-top: 0; }
+main.content img { max-width: 100%; }
+main.content table { border-collapse: collapse; display: block; overflow-x: auto; }
+main.content th, main.content td { border: 1px solid var(--border); padding: 0.4rem 0.6rem; text-align: left; }
+main.content th { background: var(--bg-elev); }
+main.content pre {
+  position: relative;
+  background: var(--bg-elev);
+  padding: 0.9rem 1rem;
+  border-radius: 0.25rem;
+  overflow-x: auto;
+}
+main.content code { font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; }
+main.content :not(pre) > code { background: var(--bg-elev); padding: 0.1rem 0.35rem; border-radius: 0.2rem; font-size: 0.88em; }
+main.content blockquote { border-left: 3px solid var(--border); margin: 1rem 0; padding: 0.2rem 1rem; color: var(--fg-dim); }
+main.content .admonition {
+  margin: 1rem 0; padding: 0.5rem 1rem; border-radius: 0.3rem; border-left: 3px solid var(--border);
+  background: var(--bg-elev);
+}
+main.content .admonition .admonition-title { margin: 0.2rem 0 0.4rem; font-weight: 600; }
+main.content .admonition.note { border-left-color: #0969da; }
+main.content .admonition.note .admonition-title { color: #0969da; }
+main.content .admonition.tip { border-left-color: #1a7f37; }
+main.content .admonition.tip .admonition-title { color: #1a7f37; }
+main.content .admonition.important { border-left-color: #8250df; }
+main.content .admonition.important .admonition-title { color: #8250df; }
+main.content .admonition.warning { border-left-color: #9a6700; }
+main.content .admonition.warning .admonition-title { color: #9a6700; }
+main.content .admonition.caution { border-left-color: #cf222e; }
+main.content .admonition.caution .admonition-title { color: #cf222e; }
+main.content details { margin: 0.5rem 0; }
+main.content hr { border: none; border-top: 1px solid var(--border); margin: 2rem 0; }
+.headerlink { margin-left: 0.25rem; opacity: 0; font-size: 0.7em; }
+h1:hover .headerlink, h2:hover .headerlink, h3:hover .headerlink { opacity: 1; }
+
+.edit-link { margin-top: 3rem; font-size: 0.85rem; }
+
+.copy-btn {
+  position: absolute; top: 0.4rem; right: 0.4rem;
+  background: var(--bg); color: var(--fg-dim);
+  border: 1px solid var(--border); border-radius: 0.35rem;
+  padding: 0.2rem 0.5rem; font-size: 0.78rem; cursor: pointer;
+  opacity: 0; transition: opacity 120ms;
+}
+main.content pre:hover .copy-btn { opacity: 1; }
+
+@media (max-width: 48rem) {
+  nav.sidebar { display: none; }
+  main.content { padding: 2rem 1.25rem 4rem; }
+}
+
+.glossary-term {
+  position: relative;
+  color: inherit;
+}
+
+.glossary-term__label {
+  border-bottom: 1px dotted currentColor;
+}
+
+.glossary-term__tooltip {
+  position: absolute;
+  top: calc(100% + 0.4rem);
+  left: 50%;
+  width: max-content;
+  max-width: min(30rem, 80vw);
+  padding: 0.65rem 0.8rem;
+  border-radius: 0.6rem;
+  background: rgb(26 26 26 / 96%);
+  color: white;
+  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
+  font-size: 0.85rem;
+  line-height: 1.45;
+  opacity: 0;
+  pointer-events: none;
+  transform: translateX(-50%) translateY(-0.15rem);
+  transition: opacity 120ms ease, transform 120ms ease;
+  visibility: hidden;
+  z-index: 20;
+}
+
+.glossary-term:hover .glossary-term__tooltip,
+.glossary-term:focus-visible .glossary-term__tooltip,
+.glossary-term:focus-within .glossary-term__tooltip {
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+  visibility: visible;
+}
+  </style>
+</head>
+<body>
+  <header class="site">
+    <a class="brand" href="{{HOME_HREF}}">
+      <img src="{{ROOT}}assets/comma-logo.png" alt="">
+      <span class="site-name">openpilot docs</span>
+    </a>
+    <span class="spacer"></span>
+    <div class="social">
+      <a href="https://github.com/commaai" aria-label="GitHub">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M12 .7A11.5 11.5 0 0 0 8.4 23c.6.1.8-.2.8-.5v-2c-3.3.7-4-1.4-4-1.4-.5-1.4-1.3-1.8-1.3-1.8-1.1-.7.1-.7.1-.7
+          1.2.1 1.8 1.2 1.8 1.2 1.1 1.8 2.8 1.3 3.5 1 .1-.8.4-1.3.8-1.6-2.7-.3-5.5-1.3-5.5-5.7 0-1.3.5-2.3 1.2-3.1
+          -.1-.3-.5-1.6.1-3.1 0 0 1-.3 3.2 1.2a11 11 0 0 1 5.8 0C15.8 6 16.8 6.3 16.8 6.3c.6 1.5.2 2.8.1 3.1
+          .8.8 1.2 1.8 1.2 3.1 0 4.4-2.8 5.4-5.5 5.7.4.4.8 1.1.8 2.2v2.1c0 .3.2.6.8.5A11.5 11.5 0 0 0 12 .7Z"/></svg>
+      </a>
+      <a href="https://discord.comma.ai" aria-label="Discord">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M20.3 4.4A16 16 0 0 0 16.3 3l-.5 1.1a15 15 0 0 0-7.6 0L7.7 3a16 16 0 0 0-4 1.4C1.1 8.2.4 11.9.8 15.5
+          a16 16 0 0 0 4.9 2.6l1.2-1.7-1.8-.9.4-.3c3.5 1.6 9.4 1.6 13 0l.4.3-1.8.9 1.2 1.7a16 16 0 0 0 4.9-2.6
+          c.5-4.2-.8-7.8-2.9-11.1ZM8.3 13.3c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z
+          m7.4 0c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z"/></svg>
+      </a>
+      <a href="https://x.com/comma_ai" aria-label="X">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M18.2 2.3h3.3l-7.2 8.3 8.5 11.2h-6.7l-5.2-6.8-6 6.8H1.6l7.8-8.9L1.2 2.3h6.8l4.7 6.2 5.5-6.2Z
+          m-1.2 17.5h1.8L7 4.2H5Z"/></svg>
+      </a>
+    </div>
+  </header>
+
+  <div class="layout">
+    <nav class="sidebar">
+      {{NAV}}
+    </nav>
+
+    <main class="content">
+      {{BODY}}
+      <div class="edit-link">
+        <a href="{{EDIT_URL}}">Edit this page on GitHub</a>
+      </div>
+    </main>
+  </div>
+
+  <script>
+    document.addEventListener('DOMContentLoaded', function () {
+      document.querySelectorAll('pre').forEach(function (el) {
+        var btn = document.createElement('button');
+        btn.className = 'copy-btn';
+        btn.textContent = 'copy';
+        btn.addEventListener('click', function () {
+          var code = el.querySelector('code');
+          if (!code) return;
+          navigator.clipboard.writeText(code.innerText).then(function () {
+            btn.textContent = 'copied';
+            setTimeout(function () { btn.textContent = 'copy'; }, 1200);
+          });
+        });
+        el.appendChild(btn);
+      });
+    });
+  </script>
+</body>
+</html>

launch_chffrplus.sh

@@ -19,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
-    MANIFEST="$DIR/openpilot/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
   fi
 }
 

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.4"
+  export AGNOS_VERSION="19.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/custom.capnp

@@ -69,6 +69,8 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+  buttonsPressed @2 :UInt16;
+  buttonsReleaseToggle @3 :UInt16;
 
   enum AudibleAlert {
     none @0;
@@ -137,10 +139,16 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Chunk {
+    fileName @0 :Text;
+    sha256 @1 :Text;
+  }
+
   struct Artifact {
     fileName @0 :Text;
     downloadUri @1 :DownloadUri;
     downloadProgress @2 :DownloadProgress;
+    chunks @3 :List(Chunk);
   }
 
   struct Model {
@@ -155,6 +163,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       policy @3;
       offPolicy @4;
       onPolicy @5;
+      chunked @6;
     }
   }
 
@@ -342,6 +351,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -448,6 +458,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

openpilot/cereal/deprecated.capnp

@@ -775,3 +775,13 @@ struct GpsTrajectory @0x8cfeb072f5301000 {
   x @0 :List(Float32);
   y @1 :List(Float32);
 }
+
+struct AudioFeedbackDEPRECATED @0xed47e3c075be372a {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+
+  struct AudioData {
+    data @0 :Data;
+    sampleRate @1 :UInt32;
+  }
+}

openpilot/cereal/log.capnp

@@ -75,7 +75,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     driverUnresponsive2 @37;
     driverUnresponsive3 @38;
     belowSteerSpeed @39;
-    lowBattery @40;
     accFaulted @41;
     sensorDataInvalid @42;
     commIssue @43;
@@ -107,18 +106,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     noGps @68;
     wrongCruiseMode @69;
     modeldLagging @70;
-    deviceFalling @71;
     fanMalfunction @72;
     cameraMalfunction @73;
     cameraFrameRate @74;
     processNotRunning @75;
     dashcamMode @76;
     selfdriveInitializing @77;
-    usbError @78;
     cruiseMismatch @79;
     canBusMissing @80;
     selfdrivedLagging @81;
     resumeBlocked @82;
+    carNotReady @103;
     steerTimeLimit @83;
     vehicleSensorsInvalid @84;
     locationdTemporaryError @85;
@@ -131,9 +129,15 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     aeb @92;
     userBookmark @95;
     excessiveActuation @96;
-    audioFeedback @97;
+    bigModelLoading @100;
+    bigModelFailed @102;
 
+    lowBatteryDEPRECATED @40;
     soundsUnavailableDEPRECATED @47;
+    deviceFallingDEPRECATED @71;
+    usbErrorDEPRECATED @78;
+    audioFeedbackDEPRECATED @97;
+    bigModelReadyDEPRECATED @101;
   }
 }
 
@@ -176,13 +180,13 @@ struct InitData {
 
   enum DeviceType {
     unknown @0;
-    neo @1;
+    neo @1;   # NEO, EON, & comma two
     chffrAndroid @2;
     chffrIos @3;
-    tici @4;
+    tici @4;  # comma three
     pc @5;
-    tizi @6;
-    mici @7;
+    tizi @6;  # comma 3X
+    mici @7;  # comma four
   }
 
   struct PandaInfo {
@@ -700,9 +704,29 @@ struct UsbState {
     manufacturer @6 :Text;
     product @5 :Text;
     linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
   }
 }
 
+struct ChestnutState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+}
+
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;  # for debugging
   radarErrors @13 :Car.RadarData.Error;
@@ -746,7 +770,7 @@ struct RadarState @0x9a185389d6fdd05f {
   }
 }
 
-struct LiveCalibrationData {
+struct ExtrinsicsCalibration @0x96df70754d8390bc {
   calStatus @11 :Status;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -812,6 +836,7 @@ struct SelfdriveState {
     promptDistracted @8;
 
     preAlert @9;
+    complete @10;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -1025,6 +1050,7 @@ struct ModelDataV2 {
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
   rawPredictions @16 :Data;
+  big @27 :Bool;
 
   # predicted future position, orientation, etc..
   position @4 :XYZTData;
@@ -1365,7 +1391,7 @@ struct LiveLocationKalman {
 }
 
 
-struct LivePose {
+struct DeviceMotion @0xc24ca2b57206b44d {
   # More info on reference frames:
   # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
   orientationNED @0 :XYZMeasurement;
@@ -2160,7 +2186,8 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  lockoutRecoveryPercent @11 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
   alert3Count @12 :Int8;
   noResponseCount @13 :Int8;
   noResponseForceDecel @14 :Bool;
@@ -2246,7 +2273,7 @@ struct Boot {
   }
 }
 
-struct LiveParametersData {
+struct VehicleParameters @0xd9058dcb967c2753 {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffsetDeg @2 :Float32;
@@ -2280,8 +2307,8 @@ struct LiveParametersData {
   }
 }
 
-struct LiveTorqueParametersData {
-  liveValid @0 :Bool;
+struct LateralTorqueParameters @0xe61690eb0b091692 {
+  valid @0 :Bool;
   latAccelFactorRaw @1 :Float32;
   latAccelOffsetRaw @2 :Float32;
   frictionCoefficientRaw @3 :Float32;
@@ -2297,7 +2324,7 @@ struct LiveTorqueParametersData {
   calPerc @13 :Int8;
 }
 
-struct LiveDelayData {
+struct LateralDelay @0x98dfdb22c44df8d4 {
   lateralDelay @0 :Float32;
   validBlocks @1 :Int32;
   status @2 :Status;
@@ -2483,11 +2510,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2520,9 +2542,9 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @131 :Car.RadarData;
+    radarTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
-    liveCalibration @19 :LiveCalibrationData;
+    extrinsicsCalibration @19 :ExtrinsicsCalibration;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
@@ -2533,31 +2555,31 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    liveParameters @61 :LiveParametersData;
-    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
+    vehicleParameters @61 :VehicleParameters;
+    lateralTorqueParameters @94 :LateralTorqueParameters;
+    lateralDelay @146 : LateralDelay;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @151 :DriverMonitoringState;
-    livePose @129 :LivePose;
+    deviceMotion @129 :DeviceMotion;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
-    roadCameraState @2 :FrameData;
-    driverCameraState @70: FrameData;
+    narrowRoadCameraState @2 :FrameData;
+    cabinCameraState @70: FrameData;
     wideRoadCameraState @74: FrameData;
-    roadEncodeIdx @15 :EncodeIndex;
-    driverEncodeIdx @76 :EncodeIndex;
+    narrowRoadEncodeIdx @15 :EncodeIndex;
+    cabinEncodeIdx @76 :EncodeIndex;
     wideRoadEncodeIdx @77 :EncodeIndex;
-    qRoadEncodeIdx @90 :EncodeIndex;
+    qNarrowRoadEncodeIdx @90 :EncodeIndex;
 
-    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamNarrowRoadEncodeIdx @117 :EncodeIndex;
     livestreamWideRoadEncodeIdx @118 :EncodeIndex;
-    livestreamDriverEncodeIdx @119 :EncodeIndex;
+    livestreamCabinEncodeIdx @119 :EncodeIndex;
 
     # microphone data
     soundPressure @103 :SoundPressure;
@@ -2569,6 +2591,7 @@ struct Event {
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
+    chestnutState @152 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
@@ -2581,21 +2604,20 @@ struct Event {
     # driving feedback
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
-    roadEncodeData @86 :EncodeData;
-    driverEncodeData @87 :EncodeData;
+    narrowRoadEncodeData @86 :EncodeData;
+    cabinEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
-    qRoadEncodeData @89 :EncodeData;
+    qNarrowRoadEncodeData @89 :EncodeData;
     alertDebug @133 :DebugAlert;
 
-    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamNarrowRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
-    livestreamDriverEncodeData @122 :EncodeData;
+    livestreamCabinEncodeData @122 :EncodeData;
 
     # *********** Custom: reserved for forks ***********
 
@@ -2631,6 +2653,7 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    audioFeedbackDEPRECATED @149 :Deprecated.AudioFeedbackDEPRECATED;
     liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
     liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;

openpilot/cereal/messaging/__init__.py

@@ -7,12 +7,43 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Union
 
 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
+__all__ = (
+  "NO_TRAVERSAL_LIMIT",
+  "Context",
+  "FrequencyTracker",
+  "IpcError",
+  "MultiplePublishersError",
+  "Poller",
+  "PubMaster",
+  "PubSocket",
+  "SocketEventHandle",
+  "SubMaster",
+  "SubSocket",
+  "delete_fake_prefix",
+  "drain_sock",
+  "drain_sock_raw",
+  "fake_event_handle",
+  "get_fake_prefix",
+  "log_from_bytes",
+  "new_message",
+  "pub_sock",
+  "recv_one",
+  "recv_one_or_none",
+  "recv_one_retry",
+  "recv_sock",
+  "reset_context",
+  "set_fake_prefix",
+  "sub_sock",
+  "toggle_fake_events",
+  "wait_for_one_event",
+)
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
   return msgq.pub_sock(endpoint, segment_size)
 
 
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: int | None = None) -> SubSocket:
   service = SERVICE_LIST.get(endpoint)
   segment_size = service.queue_size if service else 0
   return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
     return msg
 
 
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
     'logMonoTime': int(time.monotonic() * 1e9),
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
   return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
   return dat
 
 
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
 
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -148,27 +179,27 @@ class FrequencyTracker:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+  def __init__(self, services: list[str], poll: str | None = None,
+               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
+               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
     self.frame = -1
     self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.seen = dict.fromkeys(services, False)
+    self.updated = dict.fromkeys(services, False)
+    self.recv_time = dict.fromkeys(services, 0.0)
+    self.recv_frame = dict.fromkeys(services, 0)
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.logMonoTime = dict.fromkeys(services, 0)
 
     # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
     on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.static_freq_services = {s for s in services if not on_demand[s]}
     self.alive = {s: on_demand[s] for s in services}
     self.freq_ok = {s: on_demand[s] for s in services}
     self.valid = {s: on_demand[s] for s in services}
 
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.freq_tracker: dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -211,7 +242,7 @@ class SubMaster:
       msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
@@ -234,21 +265,21 @@ class SubMaster:
       self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
       self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_alive(self, service_list: list[str] | None = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
     return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_valid(self, service_list: list[str] | None = None) -> bool:
     return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_checks(self, service_list: list[str] | None = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:
-  def __init__(self, services: List[str]):
+  def __init__(self, services: list[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)

openpilot/cereal/messaging/tests/test_messaging.py

@@ -1,12 +1,11 @@
-import os
 import capnp
 import multiprocessing
 import numbers
 import random
 import threading
 import time
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
-import pytest
 
 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -24,10 +23,6 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
   return bytes([random.randrange(0xFF) for _ in range(length)])
 
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -52,17 +47,7 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
+class TestMessaging(OpenpilotTestCase):
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -89,7 +74,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
@@ -97,10 +81,11 @@ class TestMessaging:
     assert len(msgs) == 0
 
     # no wait but msgs are queued up
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    assert sub_sock.receive() is not None  # synchronize the PUB/SUB connection
     num_msgs = random.randrange(3, 10)
     for _ in range(num_msgs):
       pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
     msgs = func(sub_sock)
     assert isinstance(msgs, list)
     assert all(isinstance(msg, expected_type) for msg in msgs)
@@ -110,7 +95,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
@@ -128,8 +112,7 @@ class TestMessaging:
   def test_recv_one(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
+    sub_sock = messaging.sub_sock(sock, timeout=10)
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -142,12 +125,10 @@ class TestMessaging:
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
@@ -162,19 +143,16 @@ class TestMessaging:
 
   def test_recv_one_retry(self):
     sock = "carState"
-    sock_timeout = 0.1
+    sock_timeout = 0.005
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
 
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
+    # wait 5 socket timeouts and make sure it's still retrying
+    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+    p.start()
+    time.sleep(sock_timeout*5)
+    assert p.is_alive()
+    p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -1,20 +1,16 @@
 import random
 import time
-from typing import Sized, cast
+from typing import cast
+from collections.abc import Sized
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
+                                                  random_bytes, random_carstate, assert_carstate
 from openpilot.cereal.services import SERVICE_LIST
 
 
-class TestSubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
+class TestSubMaster(OpenpilotTestCase):
 
   def test_init(self):
     sm = messaging.SubMaster(events)
@@ -42,7 +38,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
@@ -54,7 +49,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     for i in range(10):
       msg = messaging.new_message(sock)
@@ -66,17 +60,17 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
+    timeout = random.randrange(10, 30)
     start_time = time.monotonic()
     sm.update(timeout)
     t = time.monotonic() - start_time
     assert t >= timeout/1000.
-    assert t < 3
+    assert t < 0.1
     assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
+      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "extrinsicsCalibration"],
                                poll=("modelV2" if poll else None),
                                frequency=(20. if not poll else None))
 
@@ -84,50 +78,39 @@ class TestSubMaster:
         "carState": (20, 20),
         "modelV2": (20, 20 if poll else 10),
         "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
+        "extrinsicsCalibration": (4, 4),
         "carParams": (None, None),
         "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
+          assert min_freq is not None
           assert sm._check_avg_freq(service)
           assert sm.freq_tracker[service].max_freq == max_freq*1.2
           assert sm.freq_tracker[service].min_freq == min_freq*0.8
         else:
           assert not sm._check_avg_freq(service)
 
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
   # SubMaster should always conflate
   def test_conflate(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
 
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    sm.update(1000)  # synchronize the PUB/SUB connection
+
     n = 10
     for i in range(n+1):
       msg = messaging.new_message(sock)
       msg.carState.vEgo = i
       pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
     sm.update(1000)
     assert sm[sock].vEgo == n
 
 
-class TestPubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
+class TestPubMaster(OpenpilotTestCase):
 
   def test_init(self):
     messaging.PubMaster(events)
@@ -136,7 +119,6 @@ class TestPubMaster:
     socks = random_socks()
     pm = messaging.PubMaster(socks)
     sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
 
     # PubMaster accepts either a capnp msg builder or bytes
     for capnp in [True, False]:

openpilot/cereal/messaging/tests/test_services.py

@@ -1,13 +1,14 @@
 import subprocess
 import tempfile
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
 
 import openpilot.cereal.services as services
 from openpilot.cereal.services import SERVICE_LIST
 
 
-class TestServices:
+class TestServices(OpenpilotTestCase):
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):

openpilot/cereal/services.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import IntEnum
-from typing import Optional
 
 
 # TODO: this should be automatically determined using the capnp schema
@@ -11,7 +10,7 @@ class QueueSize(IntEnum):
 
 
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
                queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
@@ -26,6 +25,7 @@ _services: dict[str, tuple] = {
   "accelerometer": (True, 104., 104),
   "temperatureSensor": (True, 2., 200),
   "deviceState": (True, 2., 1),
+  "chestnutState": (True, 10., 10),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -33,14 +33,14 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
+  "narrowRoadEncodeIdx": (False, 20., 1),
+  "radarTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0., None, QueueSize.BIG),
   "errorLogMessage": (True, 0., 1, QueueSize.BIG),
-  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
+  "extrinsicsCalibration": (True, 4., 4),
+  "lateralTorqueParameters": (True, 4., 1),
+  "lateralDelay": (True, 4., 1),
   "operatingSystemLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
@@ -55,15 +55,15 @@ _services: dict[str, tuple] = {
   "qcomGnss": (True, 2.),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveParameters": (True, 20., 5),
+  "deviceMotion": (True, 20., 4),
+  "vehicleParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 1 / 60., 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
+  "narrowRoadCameraState": (True, 20., 20),
+  "cabinCameraState": (True, 20., 20),
+  "cabinEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
@@ -71,16 +71,15 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "qRoadEncodeIdx": (False, 20.),
+  "qNarrowRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "narrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "cabinEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qNarrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1, QueueSize.BIG),
@@ -100,11 +99,11 @@ _services: dict[str, tuple] = {
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
   "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamNarrowRoadEncodeIdx": (False, 20.),
+  "livestreamCabinEncodeIdx": (False, 20.),
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamNarrowRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamCabinEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
@@ -125,8 +124,7 @@ def build_header():
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
   h += "};\n"
 
   h += "#endif\n"

openpilot/cereal/visionipc.py

@@ -0,0 +1,8 @@
+from enum import IntEnum
+
+
+class VisionStreamType(IntEnum):
+  VISION_STREAM_NARROW_ROAD = 0
+  VISION_STREAM_CABIN = 1
+  VISION_STREAM_WIDE_ROAD = 2
+  VISION_STREAM_MAP = 3

openpilot/cereal/visionstream.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "msgq/visionipc/visionbuf.h"
+
+enum VisionStreamValues : VisionStreamType {
+  VISION_STREAM_NARROW_ROAD = 0,
+  VISION_STREAM_CABIN = 1,
+  VISION_STREAM_WIDE_ROAD = 2,
+  VISION_STREAM_MAP = 3,
+};

openpilot/common/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython')
+Import('env')
 
 common_libs = [
   'params.cc',
@@ -11,14 +11,9 @@ common_libs = [
 _common = env.Library('common', common_libs, LIBS="json11")
 Export('_common')
 
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
+params_python = env.SharedLibrary('params_c', 'params_c.cc', LIBS=[_common, 'zmq', 'json11'])
 common_python = [params_python]
-
 Export('common_python')
+
+if GetOption('extras'):
+  env.Program('tests/test_swaglog', 'tests/test_swaglog.cc', LIBS=[_common, 'json11', 'zmq', 'pthread'])

openpilot/common/api/base.py

@@ -38,6 +38,7 @@ class BaseApi:
     }
     if payload_extra is not None:
       payload.update(payload_extra)
+    assert self.private_key is not None
     token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')

openpilot/common/esim/esim.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 
 import argparse
+import sys
+import time
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.esim.base import LPABase, Profile
 
@@ -27,6 +29,17 @@ def print_profiles(lpa: LPABase) -> None:
     print(f'{i}. {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
 
 
+def execute_and_process_notifications(lpa: LPABase, operation) -> None:
+  try:
+    operation()
+  finally:
+    time.sleep(1)  # Need to wait for 1s after the operation is finished so the eUICC/modem can settle down.
+    try:
+      lpa.process_notifications()
+    except Exception as e:
+      print(f'failed to process eSIM notifications: {e}', file=sys.stderr)
+
+
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
   sub = parser.add_subparsers(dest='cmd')
@@ -50,18 +63,21 @@ if __name__ == '__main__':
   args = parser.parse_args()
 
   lpa = HARDWARE.get_sim_lpa()
+  if not lpa.is_euicc():
+    raise SystemExit("no eUICC detected")
   if args.cmd == 'switch':
-    lpa.switch_profile(resolve_iccid(lpa, args.profile))
+    iccid = resolve_iccid(lpa, args.profile)
+    execute_and_process_notifications(lpa, lambda: lpa.switch_profile(iccid))
   elif args.cmd == 'delete':
     iccid = resolve_iccid(lpa, args.profile)
     confirm = input(f'are you sure you want to delete profile {iccid}? (y/N) ')
     if confirm == 'y':
-      lpa.delete_profile(iccid)
+      execute_and_process_notifications(lpa, lambda: lpa.delete_profile(iccid))
     else:
       print('cancelled')
       exit(0)
   elif args.cmd == 'download':
-    lpa.download_profile(args.qr, args.name)
+    execute_and_process_notifications(lpa, lambda: lpa.download_profile(args.qr, args.name))
   elif args.cmd == 'nickname':
     lpa.nickname_profile(resolve_iccid(lpa, args.profile), args.name)
   else:

openpilot/common/esim/lpa.py

@@ -451,7 +451,7 @@ def process_notifications(client: AtClient) -> None:
       response = es10x_command(client, request)
       content = require_tag(require_tag(response, TAG_RETRIEVE_NOTIFICATION, "RetrieveNotificationsListResponse"),
                             TAG_OK, "RetrieveNotificationsListResponse")
-      pending_notif = next((v for t, v in iter_tlv(content) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
+      pending_notif = next((content[start:end] for t, _, start, end in iter_tlv(content, with_positions=True) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
       if pending_notif is None:
         raise RuntimeError("Missing PendingNotification")
 
@@ -682,7 +682,7 @@ def download_profile(client: AtClient, activation_code: str) -> str:
     session.close()
 
 
-class TiciLPA(LPABase):
+class LPA(LPABase):
   def __init__(self):
     if hasattr(self, '_client'):
       return

openpilot/common/file_chunker.py

@@ -42,25 +42,26 @@ def get_existing_chunks(path):
 class ChunkStream(io.RawIOBase):
   def __init__(self, paths):
     self._paths = iter(paths)
-    self._buf = memoryview(b'')
+    self._f = None
 
   def readable(self):
     return True
 
   def readinto(self, b):
     n = 0
+    view = memoryview(b)
     while n < len(b):
-      if not self._buf:
+      if self._f is None:
         p = next(self._paths, None)
         if p is None:
           break
-        with open(p, 'rb') as f:
-          self._buf = memoryview(f.read())
+        self._f = open(p, 'rb')
+      count = self._f.readinto(view[n:])
+      if not count:
+        self._f.close()
+        self._f = None
         continue
-      take = min(len(b) - n, len(self._buf))
-      b[n:n + take] = self._buf[:take]
-      self._buf = self._buf[take:]
-      n += take
+      n += count
     return n
 
 def open_file_chunked(path):

openpilot/common/fuzzy.py

@@ -0,0 +1,240 @@
+import math
+import os
+import random
+import secrets
+import struct
+from collections.abc import Callable, Sequence
+from functools import wraps
+from typing import Any, TypeVar
+
+import capnp
+
+
+T = TypeVar("T")
+
+_EDGE_SLOTS = 16
+_MINIMAL_EXAMPLES = 10
+_INTEGER_RANGES = {
+  "int8": (-2**7, 2**7 - 1),
+  "int16": (-2**15, 2**15 - 1),
+  "int32": (-2**31, 2**31 - 1),
+  "int64": (-2**63, 2**63 - 1),
+  "uint8": (0, 2**8 - 1),
+  "uint16": (0, 2**16 - 1),
+  "uint32": (0, 2**32 - 1),
+  "uint64": (0, 2**64 - 1),
+}
+
+# One seed is shared by the whole test process. Individual tests derive their seed
+# from their unittest ID, so FUZZ_SEED is reproducible under the parallel runner too.
+FUZZ_SEED = int(os.environ.get("FUZZ_SEED", secrets.randbits(64)))
+
+
+class Fuzzy:
+  """Fast, deterministic data generator with systematic boundary coverage."""
+
+  def __init__(self, seed: int | str, example_index: int):
+    self.example_index = example_index
+    self._random = random.Random(seed)
+    self._draw_index = 0
+
+  def _draw(self, edges: Sequence[T], random_value: Callable[[], T]) -> T:
+    draw_index = self._draw_index
+    self._draw_index += 1
+
+    # Preserve the cheap minimal prefix Hypothesis produced, then interleave
+    # systematic boundaries and random values at every draw site.
+    if self.example_index < _MINIMAL_EXAMPLES:
+      return edges[0]
+    search_example = self.example_index - _MINIMAL_EXAMPLES
+    if search_example < _EDGE_SLOTS * 2 and search_example % 2 == 0:
+      return edges[(search_example // 2 + draw_index) % len(edges)]
+    if self._random.randrange(4) == 0:
+      return self._random.choice(edges)
+    return random_value()
+
+  def boolean(self) -> bool:
+    return self._draw((False, True), lambda: bool(self._random.getrandbits(1)))
+
+  def choice(self, values: Sequence[T]) -> T:
+    if not values:
+      raise ValueError("cannot choose from an empty sequence")
+    return self._draw(values, lambda: self._random.choice(values))
+
+  def integer(self, min_value: int, max_value: int) -> int:
+    if min_value > max_value:
+      raise ValueError(f"{min_value=} must not exceed {max_value=}")
+
+    edges = [
+      0, 1, -1, min_value, max_value,
+      min_value + 1, max_value - 1,
+    ]
+    edges.extend(1 << bit for bit in range(max_value.bit_length()))
+    edges.extend(-(1 << bit) for bit in range((-min_value).bit_length()))
+    valid_edges = tuple(dict.fromkeys(v for v in edges if min_value <= v <= max_value))
+    return self._draw(valid_edges, lambda: self._random.randint(min_value, max_value))
+
+  def floating(self, width: int = 64, *, allow_nan: bool = True, allow_infinity: bool = True) -> float:
+    if width not in (32, 64):
+      raise ValueError("float width must be 32 or 64")
+
+    if width == 32:
+      unpack_format = "!f"
+      finite_edges = (
+        0.0, -0.0, 1.0, -1.0,
+        struct.unpack(unpack_format, b"\x00\x00\x00\x01")[0],
+        struct.unpack(unpack_format, b"\x80\x00\x00\x01")[0],
+        struct.unpack(unpack_format, b"\x7f\x7f\xff\xff")[0],
+        struct.unpack(unpack_format, b"\xff\x7f\xff\xff")[0],
+        struct.unpack(unpack_format, b"\x00\x80\x00\x00")[0],
+        struct.unpack(unpack_format, b"\x80\x80\x00\x00")[0],
+      )
+    else:
+      unpack_format = "!d"
+      finite_edges = (
+        0.0, -0.0, 1.0, -1.0,
+        math.ulp(0.0), -math.ulp(0.0),
+        float.fromhex("0x1.fffffffffffffp+1023"), -float.fromhex("0x1.fffffffffffffp+1023"),
+        float.fromhex("0x1p-1022"), -float.fromhex("0x1p-1022"),
+      )
+
+    edges = list(finite_edges)
+    if allow_infinity:
+      edges.extend((math.inf, -math.inf))
+    if allow_nan:
+      edges.append(math.nan)
+
+    def random_float() -> float:
+      while True:
+        value = struct.unpack(unpack_format, self._random.randbytes(width // 8))[0]
+        if (allow_nan or not math.isnan(value)) and (allow_infinity or not math.isinf(value)):
+          return value
+
+    return self._draw(tuple(edges), random_float)
+
+  def _length(self, min_length: int, max_length: int | None) -> int:
+    if min_length < 0:
+      raise ValueError("minimum length must be non-negative")
+    if max_length is not None and min_length > max_length:
+      raise ValueError(f"{min_length=} must not exceed {max_length=}")
+    if max_length == min_length:
+      return min_length
+
+    offsets = (0, 1, 2, 4, 8, 16, 32)
+    edges = tuple(min_length + offset for offset in offsets if max_length is None or min_length + offset <= max_length)
+
+    def random_length() -> int:
+      # A geometric tail keeps ordinary examples small without placing an
+      # artificial ceiling on an unbounded list.
+      length = min_length
+      while max_length is None or length < max_length:
+        if self._random.randrange(8) == 0:
+          break
+        length += 1
+      return length
+
+    return self._draw(edges, random_length)
+
+  def binary(self, min_size: int = 0, max_size: int | None = None) -> bytes:
+    size = self._length(min_size, max_size)
+    patterns = (
+      bytes(size),
+      b"\xff" * size,
+      (b"\xaa\x55" * ((size + 1) // 2))[:size],
+      bytes(i & 0xff for i in range(size)),
+    )
+    return self._draw(patterns, lambda: self._random.randbytes(size))
+
+  def text(self, min_size: int = 0, max_size: int | None = None) -> str:
+    size = self._length(min_size, max_size)
+
+    def scalar() -> str:
+      value = self._random.randrange(0x110000 - 0x800)
+      if value >= 0xd800:
+        value += 0x800
+      return chr(value)
+
+    patterns = (
+      "",
+      "a" * size,
+      "\0" * size,
+      "\U0010ffff" * size,
+    )
+    valid_patterns = tuple(value for value in patterns if len(value) == size)
+    return self._draw(valid_patterns, lambda: "".join(scalar() for _ in range(size)))
+
+  def list(self, generate: Callable[[], T], min_size: int = 0, max_size: int | None = None) -> list[T]:
+    return [generate() for _ in range(self._length(min_size, max_size))]
+
+
+def fuzzy_test(max_examples: int) -> Callable[[Callable[..., None]], Callable[..., None]]:
+  """Run a unittest method repeatedly with independent, reproducible fuzzy data."""
+  max_examples = int(os.environ.get("MAX_EXAMPLES", max_examples))
+  assert max_examples >= 1
+
+  def decorator(fn: Callable[..., None]) -> Callable[..., None]:
+    @wraps(fn)
+    def wrapper(*args: Any, **kwargs: Any) -> None:
+      test_seed = f"{FUZZ_SEED}:{args[0].id()}"
+      selected_example = os.environ.get("FUZZ_EXAMPLE")
+      examples = [int(selected_example, 0)] if selected_example is not None else range(max_examples)
+
+      for example_index in examples:
+        if not 0 <= example_index < max_examples:
+          raise ValueError(f"FUZZ_EXAMPLE={example_index} is outside [0, {max_examples})")
+        try:
+          fn(*args, **kwargs, fuzzy=Fuzzy(f"{test_seed}:{example_index}", example_index))
+        except Exception as exc:
+          exc.add_note(f"reproduce with FUZZ_SEED={FUZZ_SEED} FUZZ_EXAMPLE={example_index}")
+          raise
+
+    return wrapper
+  return decorator
+
+
+def capnp_random_dict(fuzzy: Fuzzy, schema: Any, event: str | None = None, *, real_floats: bool = False) -> dict[str, Any]:
+  """Generate a dictionary accepted by a pycapnp struct constructor."""
+
+  def native(type_name: str) -> bool | int | float | str | bytes:
+    if type_name == "bool":
+      return fuzzy.boolean()
+    if type_name in _INTEGER_RANGES:
+      return fuzzy.integer(*_INTEGER_RANGES[type_name])
+    if type_name in ("float32", "float64"):
+      return fuzzy.floating(width=int(type_name[-2:]), allow_nan=not real_floats, allow_infinity=not real_floats)
+    if type_name == "text":
+      return fuzzy.text(max_size=1000)
+    if type_name == "anyPointer":
+      return fuzzy.text()
+    if type_name == "data":
+      return fuzzy.binary(max_size=1000)
+    raise NotImplementedError(f"invalid Cap'n Proto type: {type_name}")
+
+  def generate_field(field: Any) -> Any:
+    def rec(field_type: Any, base_type: str) -> Any:
+      type_name = field_type.which()
+      if type_name == "struct":
+        struct_schema = field.schema.elementType if base_type == "list" else field.schema
+        return capnp_random_dict(fuzzy, struct_schema, real_floats=real_floats)
+      if type_name == "list":
+        return fuzzy.list(lambda: rec(field_type.list.elementType, "list"))
+      if type_name == "enum":
+        enum_schema = field.schema.elementType if base_type == "list" else field.schema
+        return fuzzy.choice(tuple(enum_schema.enumerants))
+      return native(type_name)
+
+    try:
+      if hasattr(field.proto, "slot"):
+        slot_type = field.proto.slot.type
+        return rec(slot_type, slot_type.which())
+      return capnp_random_dict(fuzzy, field.schema, real_floats=real_floats)
+    except capnp.lib.capnp.KjException:
+      return capnp_random_dict(fuzzy, field.schema, real_floats=real_floats)
+
+  union_field = event or (fuzzy.choice(tuple(schema.union_fields)) if schema.union_fields else None)
+  fields = schema.non_union_fields + ((union_field,) if union_field else ())
+  return {
+    field_name: generate_field(schema.fields[field_name])
+    for field_name in fields
+    if not field_name.endswith("DEPRECATED") and field_name != "deprecated"
+  }

openpilot/common/git.py

@@ -31,12 +31,3 @@ def get_origin(cwd: str | None = None) -> str:
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
   except subprocess.CalledProcessError:  # Not on a branch, fallback
     return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
-
-
-@cache
-def get_normalized_origin(cwd: str | None = None) -> str:
-  return get_origin(cwd) \
-    .replace("git@", "", 1) \
-    .replace(".git", "", 1) \
-    .replace("https://", "", 1) \
-    .replace(":", "/", 1)

openpilot/common/hardware/__init__.py

@@ -2,15 +2,15 @@ import os
 from typing import cast
 
 from openpilot.common.hardware.base import HardwareBase
-from openpilot.common.hardware.tici.hardware import Tici
-from openpilot.common.hardware.pc.hardware import Pc
+from openpilot.common.hardware.comma.hardware import HardwareComma
+from openpilot.common.hardware.pc.hardware import HardwarePc
 
-TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')
-PC = not TICI
+COMMA_HARDWARE = AGNOS
+PC = not COMMA_HARDWARE
 
 
-if TICI:
-  HARDWARE = cast(HardwareBase, Tici())
+if COMMA_HARDWARE:
+  HARDWARE = cast(HardwareBase, HardwareComma())
 else:
-  HARDWARE = cast(HardwareBase, Pc())
+  HARDWARE = cast(HardwareBase, HardwarePc())

openpilot/common/hardware/comma/agnos.json

@@ -23,14 +23,14 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
-    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35.img.xz",
+    "hash": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35",
+    "hash_raw": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
+    "ondevice_hash": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35"
   },
   {
     "name": "aop",
@@ -56,29 +56,29 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "size": 17487872,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
+    "hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "size": 46897152,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+    "ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
+    "hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
+    "hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
     "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
       "size": 4718592000
     }
   }
-]
+]

openpilot/common/hardware/comma/agnos.py

@@ -12,14 +12,14 @@ import requests
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 
-AGNOS_MANIFEST_FILE = "openpilot/system/hardware/tici/agnos.json"
+AGNOS_MANIFEST_FILE = "openpilot/system/hardware/comma/agnos.json"
 
 
 class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False

openpilot/common/hardware/comma/all-partitions.json

@@ -339,51 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "size": 17487872,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-5463317ca7a231f2ddd55a667a8c2b0d6692982359773ca875a99a0e6fd67fb4.img.xz",
+    "hash": "5463317ca7a231f2ddd55a667a8c2b0d6692982359773ca875a99a0e6fd67fb4",
+    "hash_raw": "5463317ca7a231f2ddd55a667a8c2b0d6692982359773ca875a99a0e6fd67fb4",
+    "size": 46897152,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+    "ondevice_hash": "daefa6f897bdcc277e50dbf562fd63e57d50d9fc7a599f2d171208a490e725d9"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d.img.xz",
+    "hash": "14ab660bb955604ab6c482b3f59e5239e2c40c54e798201afcaed43d5cb0dcfd",
+    "hash_raw": "2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "ondevice_hash": "18666ca3b529304f5e7a8fc2e3c9dce715b55941e3965a7af43c613f8e18cfce",
     "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "hash": "2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630.img.xz",
-    "hash": "52160dd01b30b3dc572226e8d549a034b03bc328e80f1f4cd6a857b6dd447687",
-    "hash_raw": "14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-871adca25cb254ad1704ce427f3faaae1027f74aff43a3e150188c8a1c3d3cb8.img.xz",
+    "hash": "e4f59e5dcf4758759da9284479163e420febf1c118bf33c83b402e80e241608d",
+    "hash_raw": "871adca25cb254ad1704ce427f3faaae1027f74aff43a3e150188c8a1c3d3cb8",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "3bbc052c7793087946b0cd668c1778f930084f6b00896aeebd193dfce53fa518"
+    "ondevice_hash": "17b4ec7449e62c52be5df551542684b953e5c7ffc95103008043602f79ae7112"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0.img.xz",
-    "hash": "02a8c5512754d7781d930d242be3fad01fbce652297c69dfe8722dc92b18dc09",
-    "hash_raw": "425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-9d84bd64ef237a32675f936594c16932f8acbb52cf2dd82373a0e718cd32dfcf.img.xz",
+    "hash": "652e61ecb5b12250dbfeb9f12fd74af16b867b5ea9bf8a08b5731ffd63a76317",
+    "hash_raw": "9d84bd64ef237a32675f936594c16932f8acbb52cf2dd82373a0e718cd32dfcf",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "3667d500f91b08a4671d7c09623eb6ae8fc905d9273893b50689e214005c7fa6"
+    "ondevice_hash": "acad63821bb48823c871910b1a363ab924d2635a7574cc5045e877c438d3012f"
   }
 ]

openpilot/common/hardware/comma/hardware.h

@@ -9,7 +9,7 @@
 #include "common/util.h"
 #include "common/hardware/base.h"
 
-class HardwareTici : public HardwareNone {
+class HardwareComma : public HardwareNone {
 public:
   static std::string get_name() {
     static const std::string name = []() {

openpilot/common/hardware/comma/hardware.py

@@ -12,9 +12,8 @@ from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
 from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
-from openpilot.common.esim.lpa import TiciLPA
-from openpilot.common.hardware.tici.pins import GPIO
-from openpilot.common.hardware.tici.amplifier import Amplifier
+from openpilot.common.hardware.comma.pins import GPIO
+from openpilot.common.hardware.comma.amplifier import Amplifier
 
 MODEM_STATE_PATH = "/dev/shm/modem"
 
@@ -58,7 +57,17 @@ def get_default_route_iface():
     routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
   return min(routes)[1] if routes else None
 
-class Tici(HardwareBase):
+class HardwareComma(HardwareBase):
+  """
+    This platform covers the Snapdragon 845-based comma devices:
+    - tici = comma three
+    - tizi = comma 3X
+    - mici = comma four
+
+    We strictly use only the device codenames in this codebase for
+    consistency, though all user-facing UI should use the product names.
+  """
+
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
@@ -145,7 +154,8 @@ class Tici(HardwareBase):
     }
 
   def get_sim_lpa(self) -> LPABase:
-    return TiciLPA()
+    from openpilot.common.esim.lpa import LPA
+    return LPA()
 
   def get_imei(self):
     return self.get_modem_state().get('imei', '')
@@ -339,7 +349,7 @@ class Tici(HardwareBase):
 
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
     gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, 1)
+    gpio_set(GPIO.SOM_ST_IO, True)
 
     # *** IRQ config ***
 
@@ -389,21 +399,21 @@ class Tici(HardwareBase):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
 
   def recover_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 1)
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, True)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_BOOT0, False)
 
   def booted(self):
     # this normally boots within 8s, but on rare occasions takes 30+s
@@ -413,7 +423,7 @@ class Tici(HardwareBase):
     return True
 
 if __name__ == "__main__":
-  t = Tici()
+  t = HardwareComma()
   t.initialize_hardware()
   t.set_power_save(False)
   print(t.get_sim_info())

openpilot/common/hardware/comma/modem.py

@@ -3,17 +3,19 @@ import fcntl
 import json
 import logging
 import os
+import select
 import signal
+import struct
 import subprocess
 import tempfile
+import termios
 import time
 
+from contextlib import contextmanager
 from ipaddress import IPv4Address, AddressValueError
 
 from enum import Enum
 
-from openpilot.common.serial import Serial
-
 logging.basicConfig(
   level=logging.INFO,
   format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
@@ -52,7 +54,7 @@ PPPD_CMD = [
   "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
   "user", '""', "password", '""',
 ]
-INITIAL_STATE = {
+INITIAL_STATE: dict[str, object] = {
   "seconds_since_boot": 0,
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",
@@ -64,6 +66,39 @@ INITIAL_STATE = {
 }
 
 
+@contextmanager
+def _serial_port(port: str, baudrate: int):
+  fd = os.open(port, os.O_RDWR | os.O_NOCTTY)
+  try:
+    attrs = termios.tcgetattr(fd)
+    attrs[0] = 0
+    attrs[1] = 0
+    attrs[2] = termios.CLOCAL | termios.CREAD | termios.CS8
+    attrs[3] = 0
+    attrs[4] = attrs[5] = getattr(termios, f"B{baudrate}")
+    attrs[6][termios.VMIN] = 0
+    attrs[6][termios.VTIME] = 0
+    termios.tcsetattr(fd, termios.TCSANOW, attrs)
+    yield fd
+  finally:
+    os.close(fd)
+
+
+def _read_line(fd: int, timeout: float) -> bytes:
+  data = bytearray()
+  deadline = time.monotonic() + timeout
+  while True:
+    readable, _, _ = select.select([fd], [], [], max(0.0, deadline - time.monotonic()))
+    if not readable:
+      return bytes(data)
+    byte = os.read(fd, 1)
+    if not byte:
+      return bytes(data)
+    data.extend(byte)
+    if byte == b"\n":
+      return bytes(data)
+
+
 class State(Enum):
   INITIALIZING = "INITIALIZING"
   SEARCHING = "SEARCHING"
@@ -97,10 +132,11 @@ class PPPSession:
   def reset_data_port():
     """Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
     try:
-      with Serial(PPP_PORT, baudrate=460800, timeout=1) as s:
-        s.dtr = False
+      with _serial_port(PPP_PORT, 460800) as fd:
+        dtr = struct.pack("I", termios.TIOCM_DTR)
+        fcntl.ioctl(fd, termios.TIOCMBIC, dtr)
         time.sleep(0.2)
-        s.dtr = True
+        fcntl.ioctl(fd, termios.TIOCMBIS, dtr)
     except Exception as e:
       logging.warning(f"data port reset failed: {e}")
 
@@ -221,12 +257,14 @@ class Modem:
       os.close(fd)
       return []
     try:
-      with Serial(AT_PORT, baudrate=9600, timeout=5) as ser:
-        ser.reset_input_buffer()
-        ser.write((cmd + "\r").encode())
+      with _serial_port(AT_PORT, 9600) as serial_fd:
+        termios.tcflush(serial_fd, termios.TCIFLUSH)
+        command = (cmd + "\r").encode()
+        while command:
+          command = command[os.write(serial_fd, command):]
         lines = []
         while True:
-          raw = ser.readline()
+          raw = _read_line(serial_fd, 5)
           if not raw:
             raise TimeoutError("AT timeout")
           line = raw.decode(errors="ignore").strip()

openpilot/common/hardware/comma/tests/test_agnos_updater.py

@@ -6,7 +6,8 @@ TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
 MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
 
 
-class TestAgnosUpdater:
+from openpilot.common.test import OpenpilotTestCase
+class TestAgnosUpdater(OpenpilotTestCase):
 
   def test_manifest(self):
     with open(MANIFEST) as f:

openpilot/common/hardware/comma/tests/test_amplifier.py

@@ -1,18 +1,17 @@
-import pytest
+#!/usr/bin/env python3
+
 import time
 import subprocess
+import unittest
 
 from panda import Panda
-from openpilot.common.hardware import TICI, HARDWARE
-from openpilot.common.hardware.tici.amplifier import Amplifier
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.comma.amplifier import Amplifier
 
 
-class TestAmplifier:
-
-  @classmethod
-  def setup_class(cls):
-    if not TICI:
-      pytest.skip()
+class TestAmplifier(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     # clear dmesg
@@ -65,4 +64,8 @@ class TestAmplifier:
       if self._check_for_i2c_errors(True):
         break
     else:
-      pytest.fail("didn't hit any i2c errors")
+      self.fail("didn't hit any i2c errors")
+
+
+if __name__ == "__main__":
+  unittest.main()

openpilot/common/hardware/hw.h

@@ -5,9 +5,9 @@
 #include "common/hardware/base.h"
 #include "common/util.h"
 
-#if __TICI__
-#include "common/hardware/tici/hardware.h"
-#define Hardware HardwareTici
+#if __COMMA_HARDWARE__
+#include "common/hardware/comma/hardware.h"
+#define Hardware HardwareComma
 #else
 #include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC

openpilot/common/hardware/pc/hardware.py

@@ -1,7 +1,7 @@
 from openpilot.cereal import log
 from openpilot.common.hardware.base import HardwareBase
 
-class Pc(HardwareBase):
+class HardwarePc(HardwareBase):
   def get_device_type(self):
     return "pc"
 

openpilot/common/hardware/usb.py

@@ -1,8 +1,19 @@
+import os
 from pathlib import Path
 
-CHESTNUT_VENDOR_ID = 0xADD1
-CHESTNUT_PRODUCT_ID = 0x0001
+CHESTNUT_FW_VERSION = "ed4e39b7"
+CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
+CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
 USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
+TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
+PRIMARY_USB_CONTROLLER = "a600000.ssusb"
+
+
+def get_usb_topology() -> set[str]:
+  try:
+    return set(os.listdir(USB_DEVICES_PATH))
+  except OSError:
+    return set()
 
 
 def read(path: Path) -> str | None:
@@ -15,7 +26,7 @@ def read(path: Path) -> str | None:
 def read_int(path: Path, base: int = 10) -> int:
   try:
     return int(path.read_text(), base)
-  except (OSError, ValueError):
+  except (OSError, ValueError, TypeError):
     return 0
 
 
@@ -36,6 +47,7 @@ def controller(device: Path) -> Path | None:
 
 def get_usb_state() -> list[dict]:
   devices = []
+  typec_orientation = read_int(TYPEC_CC_ORIENTATION_PATH)
   for device in usb_devices():
     vendor_id = read_int(device / "idVendor", 16)
     product_id = read_int(device / "idProduct", 16)
@@ -49,6 +61,7 @@ def get_usb_state() -> list[dict]:
       "manufacturer": read(device / "manufacturer") or "",
       "product": read(device / "product") or "",
       "linkErrorCount": read_int(ctrl / "portli", 0) & 0xFFFF if ctrl is not None else 0,
+      "usb3Lane": {1: "a", 2: "b"}.get(typec_orientation, "unknown") if ctrl is not None and ctrl.name == PRIMARY_USB_CONTROLLER else "unknown",
     })
   return devices
 
@@ -66,8 +79,9 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
     entry.manufacturer = device["manufacturer"]
     entry.product = device["product"]
     entry.linkErrorCount = device["linkErrorCount"]
+    entry.usb3Lane = device.get("usb3Lane", "unknown")
 
-    if (entry.vendorId, entry.productId) == (CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID):
+    if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
       chestnut_present = True
 
   device_state.chestnutPresent = chestnut_present

openpilot/common/mock/__init__.py

@@ -8,12 +8,12 @@ import functools
 import threading
 from openpilot.cereal.messaging import PubMaster
 from openpilot.cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.common.realtime import Ratekeeper
 
 
 MOCK_GENERATOR = {
-  "livePose": generate_livePose
+  "deviceMotion": generate_deviceMotion
 }
 
 

openpilot/common/mock/generators.py

@@ -1,14 +1,14 @@
 from openpilot.cereal import messaging
 
 
-def generate_livePose():
-  msg = messaging.new_message('livePose')
+def generate_deviceMotion():
+  msg = messaging.new_message('deviceMotion')
   meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-  msg.livePose.orientationNED = meas
-  msg.livePose.velocityDevice = meas
-  msg.livePose.angularVelocityDevice = meas
-  msg.livePose.accelerationDevice = meas
-  msg.livePose.inputsOK = True
-  msg.livePose.posenetOK = True
-  msg.livePose.sensorsOK = True
+  msg.deviceMotion.orientationNED = meas
+  msg.deviceMotion.velocityDevice = meas
+  msg.deviceMotion.angularVelocityDevice = meas
+  msg.deviceMotion.accelerationDevice = meas
+  msg.deviceMotion.inputsOK = True
+  msg.deviceMotion.posenetOK = True
+  msg.deviceMotion.sensorsOK = True
   return msg

openpilot/common/parameterized.py

@@ -1,7 +1,7 @@
 import re
 import sys
-import pytest
 import inspect
+import unittest
 
 
 def _to_safe_name(s):
@@ -10,22 +10,60 @@ def _to_safe_name(s):
 
 class parameterized:
   @staticmethod
-  def expand(cases):
+  def expand(cases, names=None, ids=None, serial=False):
     cases = list(cases)
 
     if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
+      return lambda func: unittest.skip("no parameterized cases")(func)
 
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
+    if serial:
+      def decorator(func):
+        normalized = [case if isinstance(case, tuple) else (case,) for case in cases]
 
-    return decorator
+        def wrapper(self):
+          for case in normalized:
+            with self.subTest():
+              func(self, *case)
+
+        wrapper.__name__ = func.__name__
+        wrapper.__doc__ = func.__doc__
+        return wrapper
+
+      return decorator
+
+    return lambda func: _Expanded(func, cases, names, ids)
+
+
+class _Expanded:
+  """Descriptor that turns every parameter case into a real unittest method."""
+
+  def __init__(self, func, cases, names, ids):
+    self.func = func
+    self.cases = [c if isinstance(c, tuple) else (c,) for c in cases]
+    self.names = names
+    self.ids = ids
+
+  def __set_name__(self, owner, name):
+    params = [p for p in inspect.signature(self.func).parameters if p != "self"]
+
+    for index, case in enumerate(self.cases):
+      label = self.ids(*case) if self.ids is not None else None
+      method_name = f"{name}_{index}" + (f"_{_to_safe_name(label)}" if label is not None else "")
+
+      def test_method(test_case, current_case=case):
+        if self.names is None:
+          self.func(test_case, *current_case)
+        else:
+          values = dict(zip(self.names, current_case, strict=True))
+          values.update({param: test_case._fixture(param) for param in params if param not in values})
+          self.func(test_case, **values)
+
+      test_method.__name__ = method_name
+      test_method.__doc__ = self.func.__doc__
+      setattr(owner, method_name, test_method)
+
+    # The descriptor itself is only a method factory, not a test.
+    setattr(owner, name, None)
 
 
 def parameterized_class(attrs, input_list=None):
@@ -39,16 +77,17 @@ def parameterized_class(attrs, input_list=None):
   def decorator(cls):
     globs = sys._getframe(1).f_globals
     for i, params in enumerate(params_list):
-      # append sanitized string param values so pytest -k can filter by them
+      # Append sanitized values so unittest's -k can filter by them.
       suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
       name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
       new_cls = type(name, (cls,), dict(params))
       new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
+      new_cls.__unittest_skip__ = False
+      new_cls.__unittest_skip_why__ = ""  # else inherited from the base and the collector drops it
       globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
+    # Don't collect the un-parametrised base.
+    cls.__unittest_skip__ = True
+    cls.__unittest_skip_why__ = "parameterized base class"
     return cls
 
   return decorator

openpilot/common/params.py

@@ -1,16 +1,218 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert Params
-assert ParamKeyFlag
-assert ParamKeyType
-assert UnknownKeyName
+import sys
+import json
+import ctypes
+import weakref
+import builtins
+import datetime
+from pathlib import Path
+from enum import IntEnum, IntFlag
+
+from openpilot.common.swaglog import cloudlog
+
+
+class ParamKeyFlag(IntFlag):
+  PERSISTENT = 0x02
+  CLEAR_ON_MANAGER_START = 0x04
+  CLEAR_ON_ONROAD_TRANSITION = 0x08
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10
+  DEVELOPMENT_ONLY = 0x40
+  CLEAR_ON_IGNITION_ON = 0x80
+  BACKUP = 0x100
+  ALL = 0xFFFFFFFF
+
+
+class ParamKeyType(IntEnum):
+  STRING = 0
+  BOOL = 1
+  INT = 2
+  FLOAT = 3
+  TIME = 4
+  JSON = 5
+  BYTES = 6
+
+
+_suffix = ".dylib" if sys.platform == "darwin" else ".so"
+lib = ctypes.CDLL(Path(__file__).with_name(f"libparams_c{_suffix}"))
+
+ParamsHandle = ctypes.c_void_p
+
+
+class ParamsBuffer(ctypes.Structure):
+  _fields_ = [("data", ctypes.c_void_p), ("size", ctypes.c_size_t)]
+
+
+def _bind_raw(name, args, result=None):
+  function = getattr(lib, name)
+  function.argtypes = args
+  function.restype = result
+  return function
+
+
+params_last_error = _bind_raw("params_last_error", [], ctypes.c_char_p)
+
+
+def _bind(name, args, result=None):
+  function = _bind_raw(name, args, result)
+
+  def checked(*call_args):
+    value = function(*call_args)
+    if error := params_last_error():
+      raise RuntimeError(error.decode())
+    return value
+
+  return checked
+
+
+params_create = _bind("params_create", [ctypes.c_char_p, ctypes.c_size_t], ParamsHandle)
+params_destroy = _bind("params_destroy", [ParamsHandle])
+params_clear_all = _bind("params_clear_all", [ParamsHandle, ctypes.c_uint])
+params_check_key = _bind("params_check_key", [ParamsHandle, ctypes.c_char_p], ctypes.c_bool)
+params_get_key_type = _bind("params_get_key_type", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
+params_get_default = _bind("params_get_default", [ParamsHandle, ctypes.c_char_p], ParamsBuffer)
+params_get = _bind("params_get", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ParamsBuffer)
+params_get_bool = _bind("params_get_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ctypes.c_bool)
+params_put = _bind("params_put", [ParamsHandle, ctypes.c_char_p, ctypes.c_char_p, ctypes.c_size_t, ctypes.c_bool], ctypes.c_int)
+params_put_bool = _bind("params_put_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool, ctypes.c_bool], ctypes.c_int)
+params_remove = _bind("params_remove", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
+params_get_path = _bind("params_get_path", [ParamsHandle, ctypes.c_char_p, ctypes.c_size_t], ParamsBuffer)
+params_keys_size = _bind("params_keys_size", [ParamsHandle], ctypes.c_size_t)
+params_key_at = _bind("params_key_at", [ParamsHandle, ctypes.c_size_t], ParamsBuffer)
+params_keys_by_flag = _bind("params_keys_by_flag", [ParamsHandle, ctypes.c_uint, ctypes.POINTER(ParamsBuffer), ctypes.c_size_t], ctypes.c_size_t)
+
+PYTHON_2_CPP = {
+  (str, ParamKeyType.STRING): lambda v: v,
+  (builtins.bool, ParamKeyType.BOOL): lambda v: "1" if v else "0",
+  (int, ParamKeyType.INT): str,
+  (float, ParamKeyType.FLOAT): str,
+  (datetime.datetime, ParamKeyType.TIME): lambda v: v.isoformat(),
+  (dict, ParamKeyType.JSON): json.dumps,
+  (list, ParamKeyType.JSON): json.dumps,
+  (bytes, ParamKeyType.BYTES): lambda v: v,
+}
+CPP_2_PYTHON = {
+  ParamKeyType.STRING: lambda v: v.decode("utf-8"),
+  ParamKeyType.BOOL: lambda v: v == b"1",
+  ParamKeyType.INT: int,
+  ParamKeyType.FLOAT: float,
+  ParamKeyType.TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
+  ParamKeyType.JSON: json.loads,
+  ParamKeyType.BYTES: lambda v: v,
+}
+
+
+def ensure_bytes(v):
+  return v.encode() if isinstance(v, str) else v
+
+
+def _copy_string(value):
+  if value.data is None:
+    return None
+  return ctypes.string_at(value.data, value.size)
+
+
+class UnknownKeyName(Exception):
+  pass
+
+
+class Params:
+  def __init__(self, d=""):
+    path = ensure_bytes(d)
+    self.p = params_create(path, len(path))
+    self._finalizer = weakref.finalize(self, params_destroy, self.p)
+    self._finalizer.atexit = False  # daemon threads can still be using live Params handles during interpreter shutdown
+    self.d = d
+
+  def __reduce__(self):
+    return (type(self), (self.d,))
+
+  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
+    params_clear_all(self.p, int(tx_flag))
+
+  def check_key(self, key):
+    key = ensure_bytes(key)
+    if b"\0" in key or not params_check_key(self.p, key):
+      raise UnknownKeyName(key)
+    return key
+
+  def python2cpp(self, proposed_type, expected_type, value, key):
+    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
+    if cast:
+      return cast(value)
+    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
+
+  def _cpp2python(self, t, value, default, key):
+    if value is None:
+      return None
+    try:
+      return CPP_2_PYTHON[t](value)
+    except (KeyError, TypeError, ValueError):
+      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
+      return self._cpp2python(t, default, None, key)
+
+  def _default(self, key):
+    return _copy_string(params_get_default(self.p, key))
+
+  def get(self, key, block=False, return_default=False):
+    k = self.check_key(key)
+    t = self.get_type(k)
+    default = self._default(k) if return_default else None
+    value = _copy_string(params_get(self.p, k, block))
+    if value == b"":
+      if block:
+        raise KeyboardInterrupt
+      return self._cpp2python(t, default, None, key)
+    return self._cpp2python(t, value, default, key)
+
+  def get_bool(self, key, block=False):
+    return bool(params_get_bool(self.p, self.check_key(key), block))
+
+  def _put_cast(self, key, dat):
+    return ensure_bytes(self.python2cpp(type(dat), self.get_type(key), dat, key))
+
+  def put(self, key, dat, block=False):
+    """Write a parameter. block=True waits until it is persisted to disk."""
+    k = self.check_key(key)
+    value = self._put_cast(k, dat)
+    params_put(self.p, k, value, len(value), block)
+
+  def put_bool(self, key, val, block=False):
+    params_put_bool(self.p, self.check_key(key), val, block)
+
+  def remove(self, key):
+    params_remove(self.p, self.check_key(key))
+
+  def get_param_path(self, key=""):
+    key = ensure_bytes(key)
+    return _copy_string(params_get_path(self.p, key, len(key))).decode()
+
+  def get_type(self, key):
+    return ParamKeyType(params_get_key_type(self.p, self.check_key(key)))
+
+  def all_keys(self, flag=ParamKeyFlag.ALL):
+    if flag == ParamKeyFlag.ALL:
+      keys = []
+      for i in range(params_keys_size(self.p)):
+        keys.append(_copy_string(params_key_at(self.p, i)))
+      return keys
+    max_keys = 1024
+    buf = (ParamsBuffer * max_keys)()
+    count = params_keys_by_flag(self.p, int(flag), buf, max_keys)
+    return [_copy_string(buf[i]) for i in range(min(count, max_keys))]
+
+  def get_default_value(self, key):
+    k = self.check_key(key)
+    return self._cpp2python(self.get_type(k), self._default(k), None, key)
+
+  def cpp2python(self, key, value):
+    return self._cpp2python(self.get_type(key), value, None, key)
+
 
 if __name__ == "__main__":
   import sys
 
   params = Params()
   key = sys.argv[1]
-  assert params.check_key(key), f"unknown param: {key}"
-
+  params.check_key(key)
   if len(sys.argv) == 3:
     val = sys.argv[2]
     print(f"SET: {key} = {val}")

openpilot/common/params_c.cc

@@ -0,0 +1,174 @@
+#include <cstddef>
+#include <cstdio>
+#include <exception>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/params.h"
+
+typedef struct {
+  const char *data;
+  size_t size;
+} ParamsBuffer;
+
+struct ParamsHandle {
+  ParamsHandle(const char *path, size_t path_size) : params(std::string(path, path_size)), keys(params.allKeys()) {
+  }
+
+  Params params;
+  const std::vector<std::string> keys;
+};
+
+namespace {
+thread_local char last_error[512] = {};
+thread_local std::string result;
+
+void set_error(const char *error) {
+  snprintf(last_error, sizeof(last_error), "%s", error);
+}
+
+ParamsBuffer return_string(std::string value) {
+  result = std::move(value);
+  return {result.data(), result.size()};
+}
+
+template <typename Result, typename Callable>
+Result translate_exceptions(Result failure, Callable &&callable) noexcept {
+  last_error[0] = '\0';
+  try {
+    return callable();
+  } catch (const std::exception &e) {
+    set_error(e.what());
+  } catch (...) {
+    set_error("unknown C++ exception");
+  }
+  return failure;
+}
+
+template <typename Callable>
+void translate_exceptions(Callable &&callable) noexcept {
+  translate_exceptions(false, [&]() {
+    callable();
+    return true;
+  });
+}
+}  // namespace
+
+extern "C" {
+
+ParamsHandle *params_create(const char *path, size_t path_size) noexcept {
+  return translate_exceptions(static_cast<ParamsHandle *>(nullptr), [&]() {
+    return new ParamsHandle(path, path_size);
+  });
+}
+
+void params_destroy(ParamsHandle *handle) noexcept {
+  translate_exceptions([&]() {
+    delete handle;
+  });
+}
+
+const char *params_last_error() noexcept {
+  return last_error;
+}
+
+void params_clear_all(ParamsHandle *handle, unsigned int flag) noexcept {
+  translate_exceptions([&]() {
+    handle->params.clearAll(static_cast<ParamKeyFlag>(flag));
+  });
+}
+
+bool params_check_key(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(false, [&]() {
+    return handle->params.checkKey(key);
+  });
+}
+
+int params_get_key_type(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(-1, [&]() {
+    return static_cast<int>(handle->params.getKeyType(key));
+  });
+}
+
+ParamsBuffer params_get_default(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    auto value = handle->params.getKeyDefaultValue(key);
+    if (!value.has_value()) {
+      return ParamsBuffer{nullptr, 0};
+    }
+    return return_string(*value);
+  });
+}
+
+ParamsBuffer params_get(ParamsHandle *handle, const char *key, bool block) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    return return_string(handle->params.get(key, block));
+  });
+}
+
+bool params_get_bool(ParamsHandle *handle, const char *key, bool block) noexcept {
+  return translate_exceptions(false, [&]() {
+    return handle->params.getBool(key, block);
+  });
+}
+
+int params_put(ParamsHandle *handle, const char *key, const char *value, size_t size, bool block) noexcept {
+  return translate_exceptions(-1, [&]() {
+    if (block) {
+      return handle->params.put(key, value, size);
+    }
+    handle->params.putNonBlocking(key, std::string(value, size));
+    return 0;
+  });
+}
+
+int params_put_bool(ParamsHandle *handle, const char *key, bool value, bool block) noexcept {
+  return translate_exceptions(-1, [&]() {
+    if (block) {
+      return handle->params.putBool(key, value);
+    }
+    handle->params.putBoolNonBlocking(key, value);
+    return 0;
+  });
+}
+
+int params_remove(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(-1, [&]() {
+    return handle->params.remove(key);
+  });
+}
+
+ParamsBuffer params_get_path(ParamsHandle *handle, const char *key, size_t key_size) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    return return_string(handle->params.getParamPath(std::string(key, key_size)));
+  });
+}
+
+size_t params_keys_size(ParamsHandle *handle) noexcept {
+  return translate_exceptions(size_t{0}, [&]() {
+    return handle->keys.size();
+  });
+}
+
+ParamsBuffer params_key_at(ParamsHandle *handle, size_t index) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    if (index >= handle->keys.size()) {
+      return ParamsBuffer{nullptr, 0};
+    }
+    return return_string(handle->keys[index]);
+  });
+}
+
+size_t params_keys_by_flag(ParamsHandle *handle, uint32_t flag, ParamsBuffer *out, size_t out_size) noexcept {
+  return translate_exceptions(size_t{0}, [&]() {
+    auto filtered = handle->params.allKeys(static_cast<ParamKeyFlag>(flag));
+    size_t count = std::min(filtered.size(), out_size);
+    for (size_t i = 0; i < count; i++) {
+      out[i] = return_string(filtered[i]);
+    }
+    return filtered.size();
+  });
+}
+
+}  // extern "C"

openpilot/common/params_keys.h

@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
     {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
@@ -105,7 +106,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
@@ -130,8 +130,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -178,7 +178,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -221,6 +224,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
@@ -271,6 +275,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Torque lateral control custom params
     {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LateralJerkTorqueController", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
     {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},

openpilot/common/params_pyx.pyx

@@ -1,192 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-import builtins
-import datetime
-import json
-from libcpp cimport bool
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp.optional cimport optional
-
-from openpilot.common.swaglog import cloudlog
-
-cdef extern from "common/params.h":
-  cpdef enum ParamKeyFlag:
-    PERSISTENT
-    CLEAR_ON_MANAGER_START
-    CLEAR_ON_ONROAD_TRANSITION
-    CLEAR_ON_OFFROAD_TRANSITION
-    DEVELOPMENT_ONLY
-    CLEAR_ON_IGNITION_ON
-    BACKUP
-    ALL
-
-  cpdef enum ParamKeyType:
-    STRING
-    BOOL
-    INT
-    FLOAT
-    TIME
-    JSON
-    BYTES
-
-  cdef cppclass c_Params "Params":
-    c_Params(string) except + nogil
-    string get(string, bool) nogil
-    bool getBool(string, bool) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    void putNonBlocking(string, string) nogil
-    void putBoolNonBlocking(string, bool) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    ParamKeyType getKeyType(string) nogil
-    optional[string] getKeyDefaultValue(string) nogil
-    string getParamPath(string) nogil
-    void clearAll(ParamKeyFlag)
-    vector[string] allKeys(ParamKeyFlag)
-
-PYTHON_2_CPP = {
-  (str, STRING): lambda v: v,
-  (builtins.bool, BOOL): lambda v: "1" if v else "0",
-  (int, INT): str,
-  (float, FLOAT): str,
-  (datetime.datetime, TIME): lambda v: v.isoformat(),
-  (dict, JSON): json.dumps,
-  (list, JSON): json.dumps,
-  (bytes, BYTES): lambda v: v,
-}
-CPP_2_PYTHON = {
-  STRING: lambda v: v.decode("utf-8"),
-  BOOL: lambda v: v == b"1",
-  INT: int,
-  FLOAT: float,
-  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
-  JSON: json.loads,
-  BYTES: lambda v: v,
-}
-
-def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v
-
-class UnknownKeyName(Exception):
-  pass
-
-cdef class Params:
-  cdef c_Params* p
-  cdef str d
-
-  def __cinit__(self, d=""):
-    cdef string path = <string>d.encode()
-    with nogil:
-      self.p = new c_Params(path)
-    self.d = d
-
-  def __reduce__(self):
-    return (type(self), (self.d,))
-
-  def __dealloc__(self):
-    del self.p
-
-  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
-    self.p.clearAll(tx_flag)
-
-  def check_key(self, key):
-    key = ensure_bytes(key)
-    if not self.p.checkKey(key):
-      raise UnknownKeyName(key)
-    return key
-
-  def python2cpp(self, proposed_type, expected_type, value, key):
-    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
-    if cast:
-      return cast(value)
-    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
-
-  def _cpp2python(self, t, value, default, key):
-    if value is None:
-      return None
-    try:
-      return CPP_2_PYTHON[t](value)
-    except (KeyError, TypeError, ValueError):
-      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self._cpp2python(t, default, None, key)
-
-  def get(self, key, bool block=False, bool return_default=False):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    cdef string val
-    with nogil:
-      val = self.p.get(k, block)
-
-    default_val = (default.value() if default.has_value() else None) if return_default else None
-    if val == b"":
-      if block:
-        # If we got no value while running in blocked mode
-        # it means we got an interrupt while waiting
-        raise KeyboardInterrupt
-      else:
-        return self._cpp2python(t, default_val, None, key)
-    return self._cpp2python(t, val, default_val, key)
-
-  def get_bool(self, key, bool block=False):
-    cdef string k = self.check_key(key)
-    cdef bool r
-    with nogil:
-      r = self.p.getBool(k, block)
-    return r
-
-  def _put_cast(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
-
-  def put(self, key, dat, bool block = False):
-    """
-    Warning: block=True blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-    Use block=False in time sensitive code, but in general try to avoid
-    writing params as much as possible.
-    """
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      if block:
-        self.p.put(k, dat_bytes)
-      else:
-        self.p.putNonBlocking(k, dat_bytes)
-
-  def put_bool(self, key, bool val, bool block = False):
-    cdef string k = self.check_key(key)
-    with nogil:
-      if block:
-        self.p.putBool(k, val)
-      else:
-        self.p.putBoolNonBlocking(k, val)
-
-  def remove(self, key):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.remove(k)
-
-  def get_param_path(self, key=""):
-    cdef string key_bytes = ensure_bytes(key)
-    return self.p.getParamPath(key_bytes).decode("utf-8")
-
-  def get_type(self, key):
-    return self.p.getKeyType(self.check_key(key))
-
-  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys(flag)
-
-  def get_default_value(self, key):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
-
-  def cpp2python(self, key, value):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return self._cpp2python(t, value, None, key)

openpilot/common/pid.py

@@ -1,11 +1,13 @@
 import numpy as np
-from numbers import Number
+from collections.abc import Sequence
+
+Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+  def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
+    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
+    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 

openpilot/common/qrcode.py

@@ -0,0 +1,218 @@
+"""Small QR encoder for the UI's byte-mode, error-correction-level-L codes."""
+
+import numpy as np
+import pyray as rl
+
+
+# Indexes are QR versions. These are the only two Reed-Solomon parameters needed
+# for error-correction level L.
+_ECC_LEN = (0, 7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28)
+_NUM_BLOCKS = (0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4, 4, 4, 4, 4, 6, 6, 6, 6, 7, 8)
+
+# 15 format-info bits for level L (01) with mask 0: ((0x08 << 10) | bch_remainder) ^ 0x5412
+_FORMAT_BITS = 0b111011111000100
+
+
+def _raw_modules(version: int) -> int:
+  result = (16 * version + 128) * version + 64
+  if version >= 2:
+    align = version // 7 + 2
+    result -= (25 * align - 10) * align - 55
+  return result - (36 if version >= 7 else 0)
+
+
+def _capacity(version: int) -> int:
+  return _raw_modules(version) // 8 - _ECC_LEN[version] * _NUM_BLOCKS[version]
+
+
+def _append_bits(bits: list[int], value: int, length: int) -> None:
+  bits.extend((value >> i) & 1 for i in range(length - 1, -1, -1))
+
+
+def _data_codewords(data: bytes, version: int) -> bytes:
+  """Byte-mode-encode the payload, terminated and padded to the version's capacity."""
+  capacity = _capacity(version)
+  bits: list[int] = []
+  _append_bits(bits, 4, 4)  # byte mode
+  _append_bits(bits, len(data), 8 if version <= 9 else 16)
+  for value in data:
+    _append_bits(bits, value, 8)
+  bits.extend([0] * min(4, capacity * 8 - len(bits)))  # terminator
+  bits.extend([0] * (-len(bits) % 8))  # byte alignment
+  result = bytearray(sum(bits[i + j] << (7 - j) for j in range(8)) for i in range(0, len(bits), 8))
+  pad = (0xEC, 0x11)
+  while len(result) < capacity:
+    result.append(pad[(len(result) - (len(bits) // 8)) & 1])
+  return bytes(result)
+
+
+def _codewords(data: bytes, version: int) -> bytes:
+  """Split data codewords into Reed-Solomon blocks and interleave data + ECC."""
+  data = _data_codewords(data, version)
+  num_blocks = _NUM_BLOCKS[version]
+  ecc_len = _ECC_LEN[version]
+  raw_codewords = _raw_modules(version) // 8
+  short_len = raw_codewords // num_blocks
+  num_short = num_blocks - raw_codewords % num_blocks
+  divisor = _divisor(ecc_len)
+  blocks: list[tuple[bytes, bytes]] = []
+  offset = 0
+  for i in range(num_blocks):
+    length = short_len - ecc_len + (0 if i < num_short else 1)
+    block = data[offset:offset + length]
+    blocks.append((block, _remainder(block, divisor)))
+    offset += length
+  result = bytearray()
+  for i in range(short_len - ecc_len + 1):
+    for block, _ in blocks:
+      result.extend(block[i:i + 1])
+  for i in range(ecc_len):
+    for _, ecc in blocks:
+      result.append(ecc[i])
+  return bytes(result)
+
+
+def _multiply(x: int, y: int) -> int:
+  result = 0
+  for _ in range(8):
+    result = (result << 1) ^ (0x11D if result & 0x80 else 0)
+    if y & 0x80:
+      result ^= x
+    y <<= 1
+  return result
+
+
+def _divisor(degree: int) -> bytes:
+  result = bytearray([0] * (degree - 1) + [1])
+  root = 1
+  for _ in range(degree):
+    for j in range(degree):
+      result[j] = _multiply(result[j], root)
+      if j + 1 < degree:
+        result[j] ^= result[j + 1]
+    root = _multiply(root, 2)
+  return bytes(result)
+
+
+def _remainder(data: bytes, divisor: bytes) -> bytes:
+  result = bytearray(len(divisor))
+  for value in data:
+    factor = value ^ result.pop(0)
+    result.append(0)
+    for i, coefficient in enumerate(divisor):
+      result[i] ^= _multiply(coefficient, factor)
+  return bytes(result)
+
+
+def _alignment_positions(version: int) -> list[int]:
+  if version == 1:
+    return []
+  count = version // 7 + 2
+  step = ((version * 4 + count * 2 + 1) // (count * 2 - 2)) * 2
+  return [6] + [version * 4 + 10 - step * i for i in range(count - 1)][::-1]
+
+
+class _Qr:
+  def __init__(self, version: int, data: bytes):
+    self.version = version
+    self.size = version * 4 + 17
+    self.modules = [[False] * self.size for _ in range(self.size)]
+    self.function = [[False] * self.size for _ in range(self.size)]
+    self._draw_functions()
+    self._draw_data(_codewords(data, version))
+    for y in range(self.size):
+      for x in range(self.size):
+        if not self.function[y][x]:
+          self.modules[y][x] ^= (x + y) % 2 == 0
+    self._format()
+
+  def _set_function(self, x: int, y: int, dark: bool) -> None:
+    if 0 <= x < self.size and 0 <= y < self.size:
+      self.modules[y][x] = dark
+      self.function[y][x] = True
+
+  def _finder(self, x: int, y: int) -> None:
+    for dy in range(-4, 5):
+      for dx in range(-4, 5):
+        distance = max(abs(dx), abs(dy))
+        self._set_function(x + dx, y + dy, distance != 2 and distance != 4)
+
+  def _alignment(self, x: int, y: int) -> None:
+    for dy in range(-2, 3):
+      for dx in range(-2, 3):
+        self._set_function(x + dx, y + dy, max(abs(dx), abs(dy)) != 1)
+
+  def _draw_functions(self) -> None:
+    for i in range(self.size):
+      self._set_function(6, i, i % 2 == 0)
+      self._set_function(i, 6, i % 2 == 0)
+    self._finder(3, 3)
+    self._finder(self.size - 4, 3)
+    self._finder(3, self.size - 4)
+    positions = _alignment_positions(self.version)
+    for y in positions:
+      for x in positions:
+        if not ((x == 6 and y in (6, self.size - 7)) or (x == self.size - 7 and y == 6)):
+          self._alignment(x, y)
+    # reserve the format-info modules before the data is placed; the real
+    # values are written by the second _format call after masking
+    self._format()
+    if self.version >= 7:
+      value = self.version
+      for _ in range(12):
+        value = (value << 1) ^ ((value >> 11) * 0x1F25)
+      value = self.version << 12 | value
+      for i in range(18):
+        bit = ((value >> i) & 1) != 0
+        a = self.size - 11 + i % 3
+        b = i // 3
+        self._set_function(a, b, bit)
+        self._set_function(b, a, bit)
+
+  def _format(self) -> None:
+    for i in range(15):
+      bit = ((_FORMAT_BITS >> i) & 1) != 0
+      y_pos = i if i < 6 else i + 1 if i < 8 else self.size - 15 + i
+      self._set_function(8, y_pos, bit)
+      x_pos = self.size - 1 - i if i < 8 else 15 - i if i < 9 else 14 - i
+      self._set_function(x_pos, 8, bit)
+    self._set_function(8, self.size - 8, True)
+
+  def _draw_data(self, data: bytes) -> None:
+    bits = ((byte >> s) & 1 for byte in data for s in reversed(range(8)))
+    upward = True
+    right = self.size - 1
+    while right >= 1:
+      if right == 6:  # skip the vertical timing column
+        right = 5
+      for vert in range(self.size):
+        y = self.size - 1 - vert if upward else vert
+        for x in (right, right - 1):
+          if not self.function[y][x]:
+            self.modules[y][x] = bool(next(bits, 0))
+      upward = not upward
+      right -= 2
+
+
+def make_texture(data: str, inverted: bool = False) -> rl.Texture:
+  """Render a URL as the RGBA QR texture used by the UI. The texture upload
+  copies the pixels, so the intermediate image/array don't need to outlive it."""
+  raw = data.encode()
+  for version in range(1, 21):
+    count_bits = 8 if version <= 9 else 16
+    if 4 + count_bits + len(raw) * 8 <= _capacity(version) * 8:
+      break
+  else:
+    raise ValueError("QR URL is too long")
+  modules = np.pad(_Qr(version, raw).modules, 0 if inverted else 4)
+  modules = np.repeat(np.repeat(modules, 10, axis=0), 10, axis=1)
+  gray = ((modules == inverted) * 255).astype(np.uint8)
+  img_array = np.dstack((gray, gray, gray, np.full_like(gray, 255)))
+
+  rl_image = rl.Image()
+  rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+  rl_image.width = img_array.shape[1]
+  rl_image.height = img_array.shape[0]
+  rl_image.mipmaps = 1
+  rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+  return rl.load_texture_from_image(rl_image)

openpilot/common/stat_live.py

@@ -48,9 +48,6 @@ class RunningStat:
   def std(self):
     return np.sqrt(self.variance())
 
-  def params_to_save(self):
-    return [self.M, self.S, self.n]
-
 class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)

openpilot/common/swaglog.py

@@ -27,7 +27,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
     self.log_files = self.get_existing_logfiles()
     log_indexes = [f.split(".")[-1] for f in self.log_files]
     self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
-    self.last_rollover = None
+    self.last_rollover = 0.0
     self.doRollover()
 
   def _open(self):
@@ -39,13 +39,14 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
     return stream
 
   def get_existing_logfiles(self):
-    log_files = list()
+    log_files = []
     base_dir = os.path.dirname(self.base_filename)
     for fn in os.listdir(base_dir):
       fp = os.path.join(base_dir, fn)
       if fp.startswith(self.base_filename) and os.path.isfile(fp):
         log_files.append(fp)
-    return sorted(log_files)
+    # newest first, matching _open()'s insert(0, ...) so doRollover()'s pop() deletes the oldest
+    return sorted(log_files, reverse=True)
 
   def shouldRollover(self, record):
     size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes

openpilot/common/test.py

@@ -0,0 +1,166 @@
+import contextlib
+import gc
+import inspect
+import os
+import subprocess
+import unittest
+from unittest import mock
+
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.system.manager import manager
+
+
+@contextlib.contextmanager
+def clean_env():
+  starting_env = dict(os.environ)
+  try:
+    yield
+  finally:
+    os.environ.clear()
+    os.environ.update(starting_env)
+
+
+class OpenpilotTestCase(unittest.TestCase):
+  """TestCase with openpilot's per-test isolation."""
+
+  COMMA_HARDWARE_TEST = False
+  SHARED_DOWNLOAD_CACHE = False
+
+  def __init_subclass__(cls, **kwargs):
+    super().__init_subclass__(**kwargs)
+    # Preserve legacy xunit hooks and invoke them inside the prefix below.
+    for name in ("setup_method", "teardown_method"):
+      hook = cls.__dict__.get(name)
+      if hook is not None:
+        setattr(cls, f"openpilot_{name}", hook)
+        setattr(cls, name, None)
+
+  def _fixture(self, name):
+    if name == "mocker":
+      return Mocker(self.addCleanup)
+    if name == "monkeypatch":
+      return MonkeyPatch(self.addCleanup)
+    if name == "subtests":
+      return SubTests(self)
+
+    fixture = getattr(inspect.getmodule(type(self)), name)
+    kwargs = {p: self._fixture(p) for p in inspect.signature(fixture).parameters}
+    value = fixture(**kwargs)
+    if inspect.isgenerator(value):
+      generator = value
+      value = next(generator)
+      self.addCleanup(lambda: next(generator, None))
+    return value
+
+  def _callTestMethod(self, method):
+    params = [name for name, param in inspect.signature(method).parameters.items()
+              if param.default is inspect.Parameter.empty]
+    return method(**{name: self._fixture(name) for name in params})
+
+  def run(self, result=None):
+    # This boundary cannot live in setUp/tearDown: existing unittest classes
+    # are allowed to override those hooks without calling super().
+    if (self.COMMA_HARDWARE_TEST and not COMMA_HARDWARE) or getattr(type(self), "__unittest_skip__", False):
+      return super().run(result)
+    test_env = clean_env()
+    test_env.__enter__()
+    prefix = OpenpilotPrefix(shared_download_cache=self.SHARED_DOWNLOAD_CACHE)
+    prefix.__enter__()
+    try:
+      return super().run(result)
+    finally:
+      prefix.__exit__(None, None, None)
+      manager.manager_cleanup()
+      if not gc.isenabled():
+        gc.enable()
+        gc.collect()
+      test_env.__exit__(None, None, None)
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if cls.COMMA_HARDWARE_TEST and not COMMA_HARDWARE:
+      raise unittest.SkipTest("Skipping comma hardware test on PC")
+    cls._class_env = clean_env()
+    cls._class_env.__enter__()
+    setup_class = getattr(cls, "setup_class", None)
+    if setup_class is not None:
+      setup_class()
+
+  @classmethod
+  def tearDownClass(cls):
+    try:
+      teardown_class = getattr(cls, "teardown_class", None)
+      if teardown_class is not None:
+        teardown_class()
+    finally:
+      cls._class_env.__exit__(None, None, None)
+      super().tearDownClass()
+
+  def setUp(self):
+    super().setUp()
+    if self.COMMA_HARDWARE_TEST and not COMMA_HARDWARE:
+      self.skipTest("Skipping comma hardware test on PC")
+
+    if self.COMMA_HARDWARE_TEST:
+      HARDWARE.initialize_hardware()
+      HARDWARE.set_power_save(False)
+      subprocess.run(["pkill", "-9", "-f", "athena"], check=False)
+
+    setup_method = getattr(self, "openpilot_setup_method", None)
+    if setup_method is not None:
+      setup_method()
+
+  def tearDown(self):
+    try:
+      teardown_method = getattr(self, "openpilot_teardown_method", None)
+      if teardown_method is not None:
+        teardown_method()
+    finally:
+      super().tearDown()
+
+
+class Mocker:
+  Mock = mock.Mock
+  MagicMock = mock.MagicMock
+  call = mock.call
+  ANY = mock.ANY
+
+  def __init__(self, add_cleanup):
+    self._add_cleanup = add_cleanup
+    self.patch = Patch(self._start)
+
+  def _start(self, patcher):
+    value = patcher.start()
+    self._add_cleanup(patcher.stop)
+    return value
+
+
+class Patch:
+  def __init__(self, start):
+    self._start = start
+
+  def __call__(self, *args, **kwargs):
+    return self._start(mock.patch(*args, **kwargs))
+
+  def object(self, *args, **kwargs):
+    return self._start(mock.patch.object(*args, **kwargs))
+
+
+class MonkeyPatch:
+  def __init__(self, add_cleanup):
+    self._add_cleanup = add_cleanup
+
+  def setattr(self, target, name, value):
+    patcher = mock.patch.object(target, name, value)
+    patcher.start()
+    self._add_cleanup(patcher.stop)
+
+
+class SubTests:
+  def __init__(self, test_case):
+    self._test_case = test_case
+
+  def test(self, label=None, **kwargs):
+    return self._test_case.subTest(**kwargs) if label is None else self._test_case.subTest(label, **kwargs)

openpilot/common/tests/.gitignore

@@ -1 +1,2 @@
 test_common
+test_swaglog

openpilot/common/tests/native_test.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+inline void native_test_check(bool condition, const char *expression, const char *file, int line) {
+  if (!condition) {
+    throw std::runtime_error(std::string(file) + ":" + std::to_string(line) + ": check failed: " + expression);
+  }
+}
+
+#define CHECK(condition) native_test_check(static_cast<bool>(condition), #condition, __FILE__, __LINE__)
+#define REQUIRE(...) CHECK((__VA_ARGS__))
+
+template <typename Function>
+int run_native_test(Function &&function) {
+  try {
+    function();
+    return 0;
+  } catch (const std::exception &error) {
+    std::cerr << error.what() << '\n';
+    return 1;
+  }
+}

openpilot/common/tests/test_file_helpers.py

@@ -1,10 +1,11 @@
 import os
 from uuid import uuid4
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import atomic_write
 
 
-class TestFileHelpers:
+class TestFileHelpers(OpenpilotTestCase):
   def run_atomic_write_func(self, atomic_write_func):
     path = f"/tmp/tmp{uuid4()}"
     with atomic_write_func(path) as f:

openpilot/common/tests/test_markdown.py

@@ -1,10 +1,11 @@
 import os
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.markdown import parse_markdown
 
 
-class TestMarkdown:
+class TestMarkdown(OpenpilotTestCase):
   def test_all_release_notes(self):
     with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")

openpilot/common/tests/test_params.py

@@ -1,13 +1,13 @@
-import pytest
 import datetime
 import os
 import threading
 import time
 import uuid
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
-class TestParams:
+class TestParams(OpenpilotTestCase):
   def setup_method(self):
     self.params = Params()
 
@@ -50,18 +50,23 @@ class TestParams:
     assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.get("swag")
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.get_bool("swag")
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.put("swag", "abc", block=True)
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.put_bool("swag", True, block=True)
 
+    with self.assertRaises(UnknownKeyName):
+      self.params.put(b"DongleId\0suffix", "abc", block=True)
+
+    assert self.params.get_param_path(b"key\0suffix").endswith("/key\0suffix")
+
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
     self.params.remove("CarParams")
@@ -112,14 +117,14 @@ class TestParams:
   def test_params_default_value(self):
     self.params.remove("LanguageSetting")
     self.params.remove("LongitudinalPersonality")
-    self.params.remove("LiveParameters")
+    self.params.remove("LiveParametersV2")
 
     assert self.params.get("LanguageSetting") is None
     assert self.params.get("LanguageSetting", return_default=False) is None
     assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
     assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("LiveParameters") is None
-    assert self.params.get("LiveParameters", return_default=True) is None
+    assert self.params.get("LiveParametersV2") is None
+    assert self.params.get("LiveParametersV2", return_default=True) is None
 
   def test_params_get_type(self):
     # json

openpilot/common/tests/test_runner.cc

@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"

openpilot/common/tests/test_simple_kalman.py

@@ -1,7 +1,8 @@
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.simple_kalman import KF1D
 
 
-class TestSimpleKalman:
+class TestSimpleKalman(OpenpilotTestCase):
   def setup_method(self):
     dt = 0.01
     x0_0 = 0.0

openpilot/common/tests/test_swaglog.cc

@@ -1,12 +1,11 @@
+#include <cstdlib>
+#include <string>
+
 #include <zmq.h>
 
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
 #include "common/hardware/hw.h"
+#include "common/swaglog.h"
+#include "common/tests/native_test.h"
 #include "json11/json11.hpp"
 
 #include "sunnypilot/common/version.h"
@@ -15,12 +14,38 @@ std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
 
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
+void test_swaglog() {
+  setenv("MANAGER_DAEMON", "swaglog_test", 1);
+  setenv("DONGLE_ID", "test_dongle_id", 1);
+  setenv("CLEAN", "1", 1);
+
+  void *context = zmq_ctx_new();
+  CHECK(context != nullptr);
+  void *socket = zmq_socket(context, ZMQ_PULL);
+  CHECK(socket != nullptr);
+  int timeout = 5000;
+  CHECK(zmq_setsockopt(socket, ZMQ_RCVTIMEO, &timeout, sizeof(timeout)) == 0);
+  CHECK(zmq_bind(socket, Path::swaglog_ipc().c_str()) == 0);
+
+  LOGD("native-cpp-log");
+
+  char buffer[4096] = {};
+  const int size = zmq_recv(socket, buffer, sizeof(buffer), 0);
+  CHECK(size > 1);
+  CHECK(buffer[0] == CLOUDLOG_DEBUG);
+  std::string error;
+  const auto message = json11::Json::parse(std::string(buffer + 1, size - 1), error);
+  CHECK(error.empty());
+  CHECK(message["levelnum"].int_value() == CLOUDLOG_DEBUG);
+  CHECK(message["msg"].string_value() == "native-cpp-log");
+  CHECK(message["funcname"].string_value() == "test_swaglog");
+  CHECK(message["filename"].string_value().find("test_swaglog.cc") != std::string::npos);
+  CHECK(message["ctx"]["daemon"].string_value() == "swaglog_test");
+  CHECK(message["ctx"]["dongle_id"].string_value() == "test_dongle_id");
+  CHECK(message["ctx"]["dirty"].bool_value() == false);
+
+  CHECK(zmq_close(socket) == 0);
+  CHECK(zmq_ctx_destroy(context) == 0);
 }
 
 void recv_log(int thread_cnt, int thread_msg_cnt) {
@@ -39,52 +64,39 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
       break;
     }
 
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
+    CHECK(buf[0] == CLOUDLOG_DEBUG);
     std::string err;
     auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
+    CHECK(!msg.is_null());
 
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
+    CHECK(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
+    CHECK(msg["filename"].string_value().find("test_swaglog.cc") != std::string::npos);
+    CHECK(msg["funcname"].string_value() == "log_thread");
+    CHECK(msg["lineno"].int_value() == LINE_NO);
 
     auto ctx = msg["ctx"];
 
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
+    CHECK(ctx["daemon"].string_value() == daemon_name);
+    CHECK(ctx["dongle_id"].string_value() == dongle_id);
+    CHECK(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
+    CHECK(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
+    CHECK(ctx["device"].string_value() == device);
 
     int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
+    CHECK((thread_id >= 0 && thread_id < thread_cnt));
     thread_msgs[thread_id]++;
     total_count++;
   }
   for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
+    CHECK(thread_msgs[i] == thread_msg_cnt);
   }
   zmq_close(sock);
   zmq_ctx_destroy(zctx);
 }
 
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
+int main() {
+  return run_native_test(test_swaglog);
 }

openpilot/common/tests/test_util.cc

@@ -1,147 +0,0 @@
-
-#include <dirent.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-
-#include <algorithm>
-#include <climits>
-#include <fstream>
-#include <random>
-#include <string>
-
-#include "catch2/catch.hpp"
-#include "common/util.h"
-
-std::string random_bytes(int size) {
-  std::random_device rd;
-  std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
-  std::string bytes(size + 1, '\0');
-  std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
-  return bytes;
-}
-
-TEST_CASE("util::read_file") {
-  SECTION("read /proc/version") {
-    std::string ret = util::read_file("/proc/version");
-    REQUIRE(ret.find("Linux version") != std::string::npos);
-  }
-  SECTION("read from sysfs") {
-    std::string ret = util::read_file("/sys/power/wakeup_count");
-    REQUIRE(!ret.empty());
-  }
-  SECTION("read file") {
-    char filename[] = "/tmp/test_read_XXXXXX";
-    int fd = mkstemp(filename);
-
-    REQUIRE(util::read_file(filename).empty());
-
-    std::string content = random_bytes(64 * 1024);
-    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
-    std::string ret = util::read_file(filename);
-    bool equal = (ret == content);
-    REQUIRE(equal);
-    close(fd);
-  }
-  SECTION("read directory") {
-    REQUIRE(util::read_file(".").empty());
-  }
-  SECTION("read non-existent file") {
-    std::string ret = util::read_file("does_not_exist");
-    REQUIRE(ret.empty());
-  }
-  SECTION("read non-permission") {
-    REQUIRE(util::read_file("/proc/kmsg").empty());
-  }
-}
-
-TEST_CASE("util::file_exists") {
-  char filename[] = "/tmp/test_file_exists_XXXXXX";
-  int fd = mkstemp(filename);
-  REQUIRE(fd != -1);
-  close(fd);
-
-  SECTION("existent file") {
-    REQUIRE(util::file_exists(filename));
-    REQUIRE(util::file_exists("/tmp"));
-  }
-  SECTION("nonexistent file") {
-    std::string fn = filename;
-    REQUIRE(!util::file_exists(fn + "/nonexistent"));
-  }
-  SECTION("file has no access permissions") {
-    std::string fn = "/proc/kmsg";
-    std::ifstream f(fn);
-    REQUIRE(f.good() == false);
-    REQUIRE(util::file_exists(fn));
-  }
-  ::remove(filename);
-}
-
-TEST_CASE("util::read_files_in_dir") {
-  char tmp_path[] = "/tmp/test_XXXXXX";
-  const std::string test_path = mkdtemp(tmp_path);
-  const std::string files[] = {".test1", "'test2'", "test3"};
-  for (auto fn : files) {
-    std::ofstream{test_path + "/" + fn} << fn;
-  }
-  mkdir((test_path + "/dir").c_str(), 0777);
-
-  std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
-  REQUIRE(result.find("dir") == result.end());
-  REQUIRE(result.size() == std::size(files));
-  for (auto& [k, v] : result) {
-    REQUIRE(k == v);
-  }
-}
-
-
-TEST_CASE("util::safe_fwrite") {
-  char filename[] = "/tmp/XXXXXX";
-  int fd = mkstemp(filename);
-  close(fd);
-  std::string dat = random_bytes(1024 * 1024);
-
-  FILE *f = util::safe_fopen(filename, "wb");
-  REQUIRE(f != nullptr);
-  size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
-  REQUIRE(size == dat.size());
-  int ret = util::safe_fflush(f);
-  REQUIRE(ret == 0);
-  ret = fclose(f);
-  REQUIRE(ret == 0);
-  bool equal = (dat == util::read_file(filename));
-  REQUIRE(equal);
-}
-
-TEST_CASE("util::create_directories") {
-  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
-  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
-
-  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
-    struct stat st = {};
-    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
-  };
-
-  SECTION("create_directories") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(check_dir_permissions(dir, 0755));
-  }
-  SECTION("dir already exists") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(util::create_directories(dir, 0755));
-  }
-  SECTION("a file exists with the same name") {
-    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
-    REQUIRE(f != -1);
-    close(f);
-    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
-    REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
-  }
-  SECTION("end with slashes") {
-    REQUIRE(util::create_directories(dir + "/", 0755));
-  }
-  SECTION("empty") {
-    REQUIRE(util::create_directories("", 0755) == false);
-  }
-}

openpilot/common/transformations/camera.py

@@ -37,12 +37,12 @@ class _NoneCameraConfig(CameraConfig):
 
 @dataclass(frozen=True)
 class DeviceCameraConfig:
-  fcam: CameraConfig
-  dcam: CameraConfig
-  ecam: CameraConfig
+  narrow_road: CameraConfig
+  cabin: CameraConfig
+  wide_road: CameraConfig
 
   def all_cams(self):
-    for cam in ['fcam', 'dcam', 'ecam']:
+    for cam in ['narrow_road', 'cabin', 'wide_road']:
       if not isinstance(getattr(self, cam), _NoneCameraConfig):
         yield cam, getattr(self, cam)
 
@@ -52,7 +52,7 @@ _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fish
 _os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-DEVICE_CAMERAS = {
+DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
   # A "device camera" is defined by a device type and sensor
 
   # sensor type was never set on eon/neo/two
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
 
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
-

openpilot/common/transformations/tests/test_coordinates.py

@@ -1,5 +1,6 @@
 import numpy as np
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.common.transformations.coordinates as coord
 
 geodetic_positions = np.array([[37.7610403, -122.4778699, 115],
@@ -41,7 +42,7 @@ ned_offsets_batch = np.array([[  53.88103168,   43.83445935,  -46.27488057],
                               [  78.56272609,   18.53100158,  -43.25290759]])
 
 
-class TestNED:
+class TestNED(OpenpilotTestCase):
   def test_small_distances(self):
     start_geodetic = np.array([33.8042184, -117.888593, 0.0])
     local_coord = coord.LocalCoord.from_geodetic(start_geodetic)

openpilot/common/transformations/tests/test_orientation.py

@@ -1,6 +1,6 @@
 import numpy as np
-import pytest
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
                                                ned_euler_from_ecef
@@ -30,7 +30,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 ,  1.65697808],
                     [ 2.50450101,  0.36304151,  0.33136365]])
 
 
-class TestOrientation:
+class TestOrientation(OpenpilotTestCase):
   def test_quat_euler(self):
     for i, eul in enumerate(eulers):
       np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,13 +62,13 @@ class TestOrientation:
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
 
   def test_inputs(self):
-    with pytest.raises(ValueError):
+    with self.assertRaises(ValueError):
       euler2quat([1, 2])
 
-    with pytest.raises(ValueError):
+    with self.assertRaises(ValueError):
       quat2rot([1, 2, 3])
 
-    with pytest.raises(IndexError):
+    with self.assertRaises(IndexError):
       rot2quat(np.zeros((2, 2)))
 
   def test_euler_rot_consistency(self):

openpilot/common/utils.py

@@ -108,10 +108,14 @@ def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str
   if not overwrite and os.path.exists(path):
     raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
 
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
+  tmp_file = tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False)
+  try:
+    with tmp_file:
+      yield tmp_file
+    os.replace(tmp_file.name, path)
+  finally:
+    with contextlib.suppress(FileNotFoundError):
+      os.unlink(tmp_file.name)
 
 
 def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:

openpilot/selfdrive/assets/fonts/NotoColorEmoji.ttf

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:93cdc4ee9aa40e2afceecc63da0ca05ec7aab4bec991ece51a6b52389f48a477
-size 10788068

openpilot/selfdrive/assets/fonts/NotoSansCJKjp-Regular.otf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80135e7ab71496c3b744047ef9100f5d24edaa275d248a3e0488bc769e453baa
+size 240500