Add Custom MIT License

.codespellignore

@@ -1,4 +0,0 @@
-Wen
-REGIST
-PullRequest
-cancelled

.devcontainer/.gitignore

@@ -0,0 +1,3 @@
+.Xauthority
+.env
+.host/

.devcontainer/Dockerfile

@@ -0,0 +1,18 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+RUN usermod -aG video batman
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma

.devcontainer/container_post_start.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi

.devcontainer/devcontainer.json

@@ -0,0 +1,53 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/dev:/dev",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
+}

.devcontainer/host_setup

@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi

.devcontainer/host_setup.cmd

@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env

.dockerignore

@@ -18,19 +18,6 @@
 
 venv/
 .venv/
-**/.idea
-**/.hypothesis
-**/.mypy_cache
-
-**/.venv
-**/.venv/
-
-**/.ci_cache
-**/*.rlog
-
-**/Dockerfile*
-**/dockerfile*
-**/build_output
 
 notebooks
 phone

.editorconfig

@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true
 
-[*.{py,pyx,pxd}]
+[{*.py, *.pyx, *.pxd}]
 charset = utf-8
 indent_style = space
 indent_size = 2

.gitattributes

@@ -11,6 +11,8 @@
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -0,0 +1,53 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car", "bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -1,12 +1,9 @@
 blank_issues_enabled: false
 contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
   - name: Join the Discord
     url: https://discord.comma.ai
     about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
+  - name: Report model bugs
     url: https://discord.com/channels/469524606043160576/1254834193066623017
     about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
   - name: Community Wiki

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**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]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -0,0 +1,13 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -0,0 +1,31 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+-->

.github/build.py

@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()

.github/labeler.yaml

@@ -1,11 +1,7 @@
-ci:
+CI / testing:
   - changed-files:
     - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
-chore:
-  - changed-files:
-      - any-glob-to-all-files: "{.github/**}"
-
 car:
   - changed-files:
     - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
@@ -16,7 +12,7 @@ simulation:
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: 'selfdrive/ui/**'
 
 tools:
   - changed-files:
@@ -28,4 +24,4 @@ multilanguage:
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

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

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

.github/workflows/auto-cache/action.yaml

@@ -12,27 +12,19 @@ inputs:
     required: true
   save:
     description: 'whether to save the cache'
-    default: 'true'
+    default: 'false'
     required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
 
 runs:
   using: "composite"
   steps:
     - name: setup namespace cache
-      id: ns-cache
       if: ${{ contains(runner.name, 'nsc') }}
       uses: namespacelabs/nscloud-cache-action@v1
       with:
         path: ${{ inputs.path }}
 
     - name: setup github cache
-      id: gha-cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
       uses: 'actions/cache@v4'
       with:
@@ -41,7 +33,6 @@ runs:
         restore-keys: ${{ inputs.restore-keys }}
 
     - name: setup github cache
-      id: gha-cache-ro
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
       uses: 'actions/cache/restore@v4'
       with:

.github/workflows/auto_pr_review.yaml

@@ -1,7 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
-    types: [opened, reopened, synchronize, edited]
+    types: [opened, reopened, synchronize, edited, edited]
 
 jobs:
   labeler:
@@ -9,7 +9,6 @@ jobs:
     permissions:
       contents: read
       pull-requests: write
-      issues: write
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -25,67 +24,30 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.repository == 'commaai/openpilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master-new$).*/
+        target: /^(?!master$).*/
-        exclude: /sunnypilot:.*/
+        exclude: /commaai:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-new` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"
 
-  update-pr-labels:
+    # Welcome comment
-    name: Update fork's PR Labels
+    - name: "First timers PR"
-    runs-on: ubuntu-latest
+      uses: actions/first-interaction@v1
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-    env: 
+      with:
-      PR_LABEL: 'dev-c3'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
+        pr-message: |
-    steps:
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
-      - name: Check if PR has dev-c3 label
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-        id: check-labels
+            * Convert your PR to a draft unless it's ready to review
-        uses: actions/github-script@v7
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-        with:
+            * Before marking as "ready for review", ensure:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
+              * the goal is clearly stated in the description
-          script: |
+              * all the tests are passing
-            const prNumber = context.payload.pull_request.number;
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              * include a route or your device' dongle ID if relevant
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
       
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-            
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });

.github/workflows/badges.yaml

@@ -13,7 +13,7 @@ jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
+        git config user.email "badge-researcher@comma.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg

.github/workflows/cereal_validation.yaml

@@ -1,77 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
-  validate_cereal_with_upstream:
-    name: Validate cereal with Upstream
-    runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          submodules: true
-          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
-        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"

.github/workflows/ci_weekly_report.yaml

@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,10 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -18,10 +18,9 @@ concurrency:
 jobs:
   docs:
     name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
+    timeout-minutes: 1
     steps:
-    - uses: commaai/timeout@v1
-
     - uses: actions/checkout@v4
       with:
         submodules: true
@@ -35,13 +34,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
+        repository: commaai/openpilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 

.github/workflows/lfs-maintenance.yaml

@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master-new'
-  pull_request:
-    branches:
-      - 'master-new'
-  workflow_dispatch:  # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-      
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-      
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - '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@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/prebuilt.yaml

@@ -12,7 +12,7 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/release-drafter.yml

@@ -1,29 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master-new
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -1,18 +1,19 @@
 name: release
 on:
   schedule:
-    - cron: '0 9 * * *'
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 jobs:
   build_masterci:
     name: build master-ci
     env:
-      ImageOS: ubuntu24
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     permissions:
       checks: read
       contents: write
@@ -22,7 +23,7 @@ jobs:
         sudo apt-get update
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
@@ -38,5 +39,16 @@ jobs:
       run: |
         git config --global --add safe.directory '*'
         git lfs pull
+    - name: Build master-ci
+      run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
     - name: Push master-ci
-      run: BRANCH=__nightly release/build_devel.sh
+      run: |
+        unset TARGET_DIR
+        BRANCH=master-ci release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -5,39 +5,13 @@ on:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
   workflow_dispatch:
 
-env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
 jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -50,13 +24,12 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
-        git submodule update --remote
+        git -c submodule."tinygrad".update=none submodule update --remote
         git add .
     - name: update car docs
       run: |
-        export PYTHONPATH="$PWD"
+        scons -j$(nproc) --minimal opendbc
-        scons -j$(nproc) --minimal opendbc_repo
+        PYTHONPATH=. python selfdrive/car/docs.py
-        python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83

.github/workflows/selfdrive_tests.yaml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -15,11 +14,10 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -33,44 +31,52 @@ env:
 
 jobs:
   build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
-    runs-on:
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-      - 'ubuntu-24.04'
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - name: Getting LFS files
+    - run: git lfs pull
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
+    - name: Check submodules
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
+      run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
-      timeout-minutes: 1
+      timeout-minutes: 3
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
+        ${{ env.RUN }} "release/check-dirty.sh && \
-    - name: Check submodules
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
-      if: github.repository == 'sunnypilot/sunnypilot'
+    - name: Static analysis
-      timeout-minutes: 3
+      timeout-minutes: 1
-      run: release/check-submodules.sh
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp pyproject.toml $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
-    runs-on:
+    strategy:
-      - 'ubuntu-24.04'
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -79,41 +85,30 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   build_mac:
     name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: macos-latest
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - run: git lfs pull
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
-    - name: Save Homebrew cache
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
     - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
+      uses: 'actions/cache@v4'
       with:
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -122,47 +117,62 @@ jobs:
           scons-${{ runner.arch }}-macos
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
+
-      uses: actions/cache/save@v4
+  docker_push_multiarch:
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
       with:
-        path: /tmp/scons_cache
+        submodules: false
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
 
   static_analysis:
     name: static analysis
-    runs-on:
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-      - 'ubuntu-latest'
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
     env:
       PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
+    - name: Setup
-        submodules: true
+      run: tools/op.sh setup
-    - uses: ./.github/workflows/setup-with-retry
     - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
-    runs-on:
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-      - 'ubuntu-24.04'
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
+                        $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        chmod -R 777 /tmp/comma_download_cache"
+                        pytest ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:
@@ -172,25 +182,27 @@ jobs:
 
   process_replay:
     name: process replay
-    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-    runs-on:
+                   ((github.event_name != 'pull_request') ||
-      - 'ubuntu-24.04'
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: 30
       run: |
         ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
@@ -210,8 +222,14 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
+    - name: Run model replay with ONNX
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
+                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                        coverage combine && coverage xml"
     - name: Run regen
-      if: false
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
@@ -225,32 +243,33 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on:
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-      - 'ubuntu-24.04'
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3]
+        job: [0, 1]
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
-      id: routes-cache
+      id: dependency-cache
-      uses: actions/cache@v4
+      uses: ./.github/workflows/auto-cache
       with:
         path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
+      timeout-minutes: 20
       run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 4
+        NUM_JOBS: 2
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
@@ -314,53 +333,24 @@ jobs:
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
 
-  simulator_driving:
-    name: simulator driving
-    runs-on:
-      - 'ubuntu-24.04'
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on:
+    runs-on: ubuntu-latest
-      - 'ubuntu-24.04'
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
       - uses: ./.github/workflows/setup-with-retry
-      - name: caching frames
-        id: frames-cache
-        uses: actions/cache@v4
-        with:
-          path: .ci_cache/comma_download_cache
-          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
+                            python3 selfdrive/ui/tests/test_ui/run.py"
-                            chmod -R 777 /tmp/comma_download_cache"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: ${{ env.REPORT_NAME }}
+          name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/setup-with-retry/action.yaml

@@ -17,6 +17,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
@@ -26,6 +27,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
@@ -34,4 +36,5 @@ runs:
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         is_retried: true

.github/workflows/setup/action.yaml

@@ -1,6 +1,10 @@
 name: 'openpilot env setup'
 
 inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -16,20 +20,23 @@ runs:
         echo "You should not run this action directly. Use setup-with-retry instead"
         exit 1
 
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash

.github/workflows/stale.yaml

@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

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

@@ -1,169 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
-          submodules: recursive
-      - name: Get commit date
-        id: commit-date
-        run: |
-          # Get the commit date in YYYY-MM-DD format
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: self-hosted
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

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

@@ -1,332 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
-  # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
-  
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-new, master-dev-c3-new ]
-    tags: [ '*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for selfdrive_tests to finish'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  validate_tests:
-    runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    steps:
-      - uses: actions/checkout@v4
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-  build:
-    needs: [ validate_tests ]
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: self-hosted
-    outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
-          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-              !(startsWith(github.ref, 'refs/tags/'))
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' && 
-                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' &&
-                !contains(github.event_name, 'pull_request') &&
-                steps.set_dev_configuration.outcome == 'skipped' && 
-                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-              steps.set_feature_configuration.outcome == 'skipped' &&
-              !contains(github.event_name, 'pull_request') &&
-              steps.set_staging_configuration.outcome == 'skipped' &&
-              startsWith(github.ref, 'refs/tags/')
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-          
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='*.cc' \
-            --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
-  publish:
-    concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
-    runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-
-  notify:
-    needs: [ build, publish ]
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
-
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
-        run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
-  
-  manage-pr-labels:
-    name: Remove prebuilt label
-    runs-on: ubuntu-latest
-    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    env:
-      LABEL: prebuilt
-    steps:
-      - name: Remove trust-fork-pr label if present
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.LABEL
-            });
-
-            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,224 +0,0 @@
-name: Build dev-c3-new
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-      - master-new    
-  pull_request_target:
-    types: [ labeled ]  
-    branches:    
-      - 'master'        
-      - 'master-new'            
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master-new'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev-c3-new'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-            (github.event_name == 'workflow_dispatch')
-            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-        )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-            )
-        with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
-
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/tools_tests.yaml

@@ -0,0 +1,72 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+concurrency:
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+
+jobs:
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    if: false  # we can re-enable once this is faster
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: ./scripts/retry.sh devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
+    - name: Test environment
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt

.github/workflows/ui_preview.yaml

@@ -3,25 +3,23 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
-      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -54,19 +52,19 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-1-${{ env.REPORT_NAME }}
+          name: report-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/ci-artifacts
+          repository: commaai/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -84,49 +82,39 @@ jobs:
         if: github.event_name == 'pull_request_target'
         id: find_diff
         run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
+          sudo apt-get install -y imagemagick
 
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
+          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
+          open=false
+          TABLE="<summary>All Screenshots</summary>"
           TABLE="${TABLE}<table>"
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
 
-              DIFF="${DIFF}<tr>"
+            if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              open=true
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+              convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
               mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
 
-              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<details>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -139,13 +127,20 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi
           done
 
-          TABLE="${TABLE}</table></details>"
+          TABLE="${TABLE}</table>"
+          TABLE="${TABLE}</details>"
+
+          if $open; then
+            TABLE="<details open>${TABLE}"
+          else
+            TABLE="<details>${TABLE}"
+          fi
 
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 

.github/workflows/wait-for-action/action.yaml

@@ -1,52 +0,0 @@
-name: 'Wait for Tests'
-description: 'Action to wait for workflow tests to start and complete'
-inputs:
-  workflow:
-    description: 'The workflow file name to monitor'
-    required: true
-    default: 'selfdrive_tests.yaml'
-  branch:
-    description: 'The branch to monitor (defaults to current branch)'
-    required: false
-    default: ''
-  github-token:
-    description: 'GitHub token for API access'
-    required: true
-  wait-time:
-    description: 'Initial sleep time in seconds before monitoring starts'
-    required: false
-    default: '30'
-  should-wait-for-start:
-    description: 'Whether to wait for tests to start'
-    required: false
-    default: false
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Wait for tests to start
-      if: inputs.should-wait-for-start == 'true'
-      shell: bash
-      run: |
-        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
-        sleep ${{ inputs.wait-time }}
-
-    - name: Wait for tests to finish
-      shell: bash
-      run: |
-        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
-        
-        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
-        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
-        echo "Watching run ID: $RUN_ID"
-        gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
-      env:
-        GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -36,7 +36,6 @@ a.out
 *.pyxbldc
 *.vcd
 *.qm
-*_pyx.cpp
 config.json
 clcache
 compile_commands.json
@@ -47,13 +46,18 @@ selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
+selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
+/src/
 
 notebooks
 hyperthneed
@@ -73,12 +77,8 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl
 
 *.bz2
-*.zst
 
 build/
 
@@ -105,8 +105,3 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
-
-### JetBrains ###
-!.idea/customTargets.xml
-!.idea/tools/*
-!.run/*

.gitmodules

@@ -1,21 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = https://github.com/sunnyhaibin/panda.git
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = https://github.com/commaai/rednose.git
+  url = ../../commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
+  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.lfsconfig

@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

Dockerfile.openpilot

@@ -1,8 +1,9 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-ENV PYTHONUNBUFFERED=1
+ENV PYTHONUNBUFFERED 1
 
-ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV OPENPILOT_PATH /home/batman/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

Dockerfile.openpilot_base

@@ -1,16 +1,16 @@
 FROM ubuntu:24.04
 
-ENV PYTHONUNBUFFERED=1
+ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
+ENV LANG en_US.UTF-8
-ENV LANGUAGE=en_US:en
+ENV LANGUAGE en_US:en
-ENV LC_ALL=en_US.UTF-8
+ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN /tmp/tools/install_ubuntu_dependencies.sh && \
@@ -55,12 +55,11 @@ RUN mkdir -p /tmp/opencl-driver-intel && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
-ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
 
 RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001
@@ -69,14 +68,17 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
+RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
+    rm -rf /tmp/* && \
+    rm -rf /home/$USER/.cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot

Dockerfile.sunnypilot

@@ -1,66 +0,0 @@
-FROM sunnypilot-base
-
-ARG RUNNER_DEBUG=0
-
-ENV PYTHONUNBUFFERED=1
-ENV OPENPILOT_SRC_PATH=/tmp/openpilot
-ENV BUILD_DIR=/data/openpilot
-ENV OUTPUT_DIR=/output
-
-RUN sudo apt update && sudo apt install -y rsync
-
-RUN mkdir -p ${OPENPILOT_SRC_PATH}
-RUN mkdir -p ${BUILD_DIR}
-COPY . ${OPENPILOT_SRC_PATH}
-ENV PYTHONPATH=${BUILD_DIR}
-
-WORKDIR ${OPENPILOT_SRC_PATH}
-RUN ./tools/ubuntu_setup.sh
-
-RUN ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-WORKDIR ${BUILD_DIR}
-RUN sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-RUN scons --cache-readonly -j$(nproc) --minimal
-RUN touch ${BUILD_DIR}/prebuilt
-RUN sudo rm -rf ${OUTPUT_DIR}
-RUN mkdir -p ${OUTPUT_DIR}
-
-ENTRYPOINT [\
-  "rsync", \
-  "-am", \
-  "--include=**/panda/board/", \
-  "--include=**/panda/board/obj", \
-  "--include=**/panda/board/obj/panda.bin.signed", \
-  "--include=**/panda/board/obj/panda_h7.bin.signed", \
-  "--include=**/panda/board/obj/bootstub.panda.bin", \
-  "--include=**/panda/board/obj/bootstub.panda_h7.bin", \
-  "--exclude=.sconsign.dblite", \
-  "--exclude=*.a", \
-  "--exclude=*.o", \
-  "--exclude=*.os", \
-  "--exclude=*.pyc", \
-  "--exclude=moc_*", \
-  "--exclude=*.cc", \
-  "--exclude=Jenkinsfile", \
-  "--exclude=supercombo.onnx", \
-  "--exclude=**/panda/board/*", \
-  "--exclude=**/panda/board/obj/**", \
-  "--exclude=**/panda/certs/", \
-  "--exclude=**/panda/crypto/", \
-  "--exclude=**/release/", \
-  "--exclude=**/.github/", \
-  "--exclude=**/selfdrive/ui/replay/", \
-  "--exclude=**/__pycache__/", \
-  "--exclude=**/selfdrive/ui/*.h", \
-  "--exclude=**/selfdrive/ui/**/*.h", \
-  "--exclude=**/selfdrive/ui/qt/offroad/sunnypilot/", \
-  #"--exclude=${SCONS_CACHE_DIR:-}", \
-  "--exclude=**/.git/", \
-  "--exclude=**/SConstruct", \
-  "--exclude=**/SConscript", \
-  "--exclude=**/.venv/", \
-  "--delete-excluded", \
-  "--chown=1000:1000", \
-  "/data/openpilot/", \
-  "/output/" \
-]

Jenkinsfile

@@ -12,12 +12,10 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
 
 set -e
 
-export TERM=xterm-256color
-
 shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
@@ -27,11 +25,9 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${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
-export PYTEST_ADDOPTS="-n0 -s"
+export PYTEST_ADDOPTS="-n 0"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
@@ -66,7 +62,9 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
-time ${cmd}
+${cmd}
+exit 0
+
 END"""
 
     sh script: ssh_cmd, label: step_label
@@ -79,38 +77,17 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
         return
     }
 
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
         timeout(time: 35, unit: 'MINUTES') {
           retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            def name = item[0]
+            device(device_ip, item[0], item[1])
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
           }
         }
       }
@@ -118,43 +95,14 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
   }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
 }
 
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
 
 node {
   env.CI = "1"
@@ -166,11 +114,11 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
+  if (env.BRANCH_NAME != 'master') {
     properties([
         disableConcurrentBuilds(abortPrevious: true)
     ])
@@ -179,98 +127,82 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release3-staging", "tici-needs-can", [], [
-        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
       ])
     }
 
-    if (env.BRANCH_NAME == '__nightly') {
+    if (env.BRANCH_NAME == 'master-ci') {
-      parallel (
+      deviceStage("build nightly", "tici-needs-can", [], [
-        'nightly': {
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-          deviceStage("build nightly", "tici-needs-can", [], [
+      ])
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
       // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tici-needs-can", [], [
-          step("build openpilot", "cd system/manager && ./build.py"),
+          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
-          step("check dirty", "release/check-dirty.sh"),
+          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          ["build openpilot", "cd system/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
+          ["build", "cd system/manager && ./build.py"],
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          ["test manager", "pytest system/manager/test/test_manager.py"],
         ])
       },
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
+          ["build openpilot", "cd system/manager && ./build.py"],
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
         ])
       },
-      'camerad AR0231': {
+      'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
+          ["build", "cd system/manager && ./build.py"],
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
-      },
-      'camerad OX03C10': {
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
+          ["build", "cd system/manager && ./build.py"],
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
+          ["build", "cd system/manager && ./build.py"],
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
+          ["build", "cd system/manager && ./build.py"],
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          ["build", "cd system/manager && ./build.py"],
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
+          ["build openpilot", "cd system/manager && ./build.py"],
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-          // TODO: enable once new AGNOS is available
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 

README.md

@@ -1,119 +1,98 @@
-![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
+<div align="center" style="text-align: center;">
 
-## 🌞 What is sunnypilot?
+<h1>openpilot</h1>
-[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Discord
+<p>
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+  <b>openpilot is an operating system for robotics.</b>
-* https://discord.gg/sunnypilot
+  <br>
+  Currently, it upgrades the driver assistance system in 275+ supported cars.
+</p>
 
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
 
-## Documentation
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
-https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
-## 🚘 Running on a dedicated device in a car
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
-* A supported device to run this software
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-* This software
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+</div>
 
-## Installation
+<table>
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+  </tr>
+</table>
 
-* sunnypilot not installed or you installed a version before 0.8.17?
+To start using openpilot in a car
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+------
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
 
-* sunnypilot already installed and you installed a version after 0.8.17?
+To use openpilot in a car, you need four things:
-  1. On the comma three, go to `Settings` ▶️ `Software`.
+1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
 
-|    Branch    |         Installation URL         |
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-### If you want to use our newest branches (our rewrite)
+To start developing openpilot
-> [!TIP]
+------
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
 
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
 
-> [!IMPORTANT]
+* Join the [community Discord](https://discord.comma.ai)
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
-> You can still restore the latest sunnylink backup made on the old branches.
+* Check out the [openpilot tools](tools/)
+* Read about the [development workflow](docs/WORKFLOW.md)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
-|      Branch      |                 Installation URL              |
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
 
-> [!TIP]
+Safety and Testing
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+----
 
-## 🎆 Pull Requests
+* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
-Pull requests should be against the most current `master-new` branch.
+Licensing
+------
 
-## 📊 User Data
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
-sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
 
-sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+User Data and comma Account
+------
+
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
-By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-## Licensing
-
-sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
-
-The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
-
-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
->
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
->
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-> NO WARRANTY EXPRESSED OR IMPLIED.**
-
-For full license terms, please see the [`LICENSE`](LICENSE) file.
-
-## 💰 Support sunnypilot
-If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
-
-
-By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
-
-
-<h3>GitHub Sponsor</h3>
-
-<a href="https://github.com/sponsors/sunnyhaibin">
-  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
-</a>
-<br>
-
-<h3>PayPal</h3>
-
-<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
-<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
-</a>
-<br></br>
-
-Your continuous love and support are greatly appreciated! Enjoy 🥰
-
-<span>-</span> Jason, Founder of sunnypilot

RELEASES.md

@@ -1,33 +1,8 @@
-Version 0.9.10 (2025-06-30)
+Version 0.9.8 (2024-XX-XX)
 ========================
-
+* New Tomb Raider driving model
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
-* Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
-
-Version 0.9.8 (2025-02-28)
-========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driver monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
-* Localizer rewritten to remove GPS dependency at runtime
-* Firehose Mode for maximizing your training data uploads
-* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
-* Rivian R1S and R1T support thanks to lukasloetkolben!
-* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
 
 Version 0.9.7 (2024-06-13)
 ========================

SConstruct

@@ -49,12 +49,21 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
           dest='external_sconscript',
           help='add an external SConscript to the build')
 
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
 AddOption('--mutation',
           action='store_true',
           help='generate mutation-ready code')
@@ -65,12 +74,6 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -169,10 +172,6 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
@@ -238,8 +237,7 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -304,7 +302,12 @@ else:
   elif arch != "Darwin":
     qt_libs += ["GL"]
 qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
 
 qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
@@ -346,12 +349,12 @@ Export('common', 'gpucommon')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')
 
 
@@ -363,13 +366,14 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
   SConscript([
+    'system/sensord/SConscript',
     'system/logcatd/SConscript',
-    'system/proclogd/SConscript',
   ])
 
 if arch == "larch64":
@@ -380,8 +384,6 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
-SConscript(['sunnypilot/SConscript'])
-
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":

cereal/README.md

@@ -29,50 +29,6 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
--struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
--    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
--    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
----
-
 Example
 ---
 ```python

cereal/__init__.py

@@ -1,11 +1,9 @@
 import os
 import capnp
-from importlib.resources import as_file, files
 
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath:
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  CEREAL_PATH = fspath.as_posix()
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp

cereal/car.capnp

@@ -0,0 +1,718 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* events causing controls state machine transition *******
+
+# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately
+#        move due to being referenced by structs in this file
+struct OnroadEvent @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    canError @0;
+    steerUnavailable @1;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;  # exits active state
+    preEnableStandstill @73;  # added during pre-enable state with brake
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
+    cruiseDisabled @14;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    calibrationRecalibrating @117;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    radarFault @26;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
+    joystickDebug @34;
+    longitudinalManeuver @124;
+    steerTempUnavailableSilent @35;
+    resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    lowBattery @48;
+    accFaulted @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    commIssueAvgFreq @109;
+    tooDistracted @54;
+    posenetInvalid @55;
+    soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    lowMemory @63;
+    stockAeb @64;
+    ldw @65;
+    carUnrecognized @66;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    cameraFrameRate @110;
+    processNotRunning @95;
+    dashcamMode @96;
+    selfdriveInitializing @98;
+    usbError @99;
+    cruiseMismatch @106;
+    lkasDisabled @107;
+    canBusMissing @111;
+    selfdrivedLagging @112;
+    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
+    locationdTemporaryError @103;
+    locationdPermanentError @118;
+    paramsdTemporaryError @50;
+    paramsdPermanentError @119;
+    actuatorsApiUnavailable @120;
+    espActive @121;
+    personalityChanged @122;
+    aeb @123;
+
+    radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
+    radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
+    roadCameraErrorDEPRECATED @100;
+    driverCameraErrorDEPRECATED @101;
+    wideRoadCameraErrorDEPRECATED @102;
+    highCpuUsageDEPRECATED @105;
+    startupNoFwDEPRECATED @104;
+  }
+}
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  events @13 :List(OnroadEvent);
+
+  # CAN health
+  canValid @26 :Bool;       # invalid counter/checksums
+  canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;
+
+  # car speed
+  vEgo @1 :Float32;            # best estimate of speed
+  aEgo @16 :Float32;           # best estimate of aCAN cceleration
+  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
+  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
+
+  vCruise @53 :Float32;        # actual set speed
+  vCruiseCluster @54 :Float32; # set speed to display in the UI
+
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user pedal only
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  engineRpm @46 :Float32;
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
+  parkingBrake @39 :Bool;
+  brakeHoldActive @38 :Bool;
+
+  # steering wheel
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
+  steeringRateDeg @15 :Float32;
+  steeringTorque @8 :Float32;      # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steerFaultTemporary @35 :Bool;   # temporary EPS fault
+  steerFaultPermanent @36 :Bool;   # permanent EPS fault
+  stockAeb @30 :Bool;
+  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+  accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # gear
+  gearShifter @14 :GearShifter;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;
+
+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
+  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
+  charging @43 :Bool;
+
+  # process meta
+  cumLagMs @50 :Float32;
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
+  }
+
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
+    eco @8;
+    manumatic @9;
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0 :Bool;
+    type @1 :Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
+    }
+  }
+
+  # deprecated
+  errorsDEPRECATED @0 :List(OnroadEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
+  canRcvTimeoutDEPRECATED @49 :Bool;
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarData @0x888ad6581cf0aacb {
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);
+
+  enum Error {
+    canError @0;
+    fault @1;
+    wrongConfig @2;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0 :UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
+  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0 :Bool;
+  latActive @11: Bool;
+  longActive @12: Bool;
+
+  # Final actuator commands
+  actuators @6 :Actuators;
+
+  # Blinker controls
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # lateral commands, mutually exclusive
+    steer @2: Float32;  # [0.0, 1.0]
+    steeringAngleDeg @3: Float32;
+    curvature @7: Float32;
+
+    # longitudinal commands
+    accel @4: Float32;  # m/s^2
+    longControlState @5: LongControlState;
+
+    # these are only for logging the actual values sent to the car over CAN
+    gas @0: Float32;   # [0.0, 1.0]
+    brake @1: Float32; # [0.0, 1.0]
+    steerOutputCan @8: Float32;   # value sent over can to the car
+    speed @6: Float32;  # m/s
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+      starting @3;
+    }
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    resume @1: Bool;
+    override @4: Bool;
+    speedOverrideDEPRECATED @2: Float32;
+    accelOverrideDEPRECATED @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+      ldw @7;
+    }
+
+    enum AudibleAlert {
+      none @0;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
+    }
+  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+  activeDEPRECATED @7 :Bool;
+  rollDEPRECATED @8 :Float32;
+  pitchDEPRECATED @9 :Float32;
+  actuatorsOutputDEPRECATED @10 :Actuators;
+}
+
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
+# ****** car param ******
+
+struct CarParams {
+  carName @0 :Text;
+  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  notCar @66 :Bool;  # flag for non-car robotics platforms
+
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;
+
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  safetyConfigs @62 :List(SafetyConfig);
+  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
+
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
+
+  # things about the car in the manual
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indiDEPRECATED @27 :LateralINDITuning;
+    lqrDEPRECATED @40 :LateralLQRTuning;
+    torque @67 :LateralTorqueTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  steerControlType @34 :SteerControlType;
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+
+  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  radarDelay @74 :Float32;
+  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @3 :UInt16;
+    safetyParamDEPRECATED @1 :Int16;
+    safetyParam2DEPRECATED @2 :UInt32;
+  }
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LateralTorqueTuning {
+    useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    friction @3 :Float32;
+    kf @4 :Float32;
+    steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @6 :Float32;
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
+  }
+
+  struct LateralINDITuning {
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+  enum SafetyModel {
+    silent @0;
+    hondaNidec @1;
+    toyota @2;
+    elm327 @3;
+    gm @4;
+    hondaBoschGiraffe @5;
+    ford @6;
+    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
+    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBosch @20;
+    volkswagenPq @21;
+    subaruPreglobal @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    volkswagenMlb @25;
+    hongqi @26;
+    body @27;
+    hyundaiCanfd @28;
+    volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
+    fcaGiorgio @32;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+
+    curvatureDEPRECATED @2;
+  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
+  }
+
+  struct CarFw {
+    ecu @0 :Ecu;
+    fwVersion @1 :Data;
+    address @2 :UInt32;
+    subAddress @3 :UInt8;
+    responseAddress @4 :UInt32;
+    request @5 :List(Data);
+    brand @6 :Text;
+    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
+  }
+
+  enum Ecu {
+    eps @0;
+    abs @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module
+
+    # Toyota only
+    dsu @6;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+
+    debug @17;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableGasInterceptorDEPRECATED @2 :Bool;
+  enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
+}

cereal/custom.capnp

@@ -7,263 +7,33 @@ $Cxx.namespace("cereal");
 # These structs are guaranteed to remain reserved and empty in mainline
 # cereal, so use these if you want custom events in your fork.
 
-# DO rename the structs
+# you can rename the struct, but don't change the identifier
-# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+struct CustomReserved0 @0x81c2f05a394cf4af {
-
-struct ModularAssistiveDrivingSystem {
-  state @0 :ModularAssistiveDrivingSystemState;
-  enabled @1 :Bool;
-  active @2 :Bool;
-  available @3 :Bool;
-
-  enum ModularAssistiveDrivingSystemState {
-    disabled @0;
-    paused @1;
-    enabled @2;
-    softDisabling @3;
-    overriding @4;
-  }
 }
 
-struct SelfdriveStateSP @0x81c2f05a394cf4af {
+struct CustomReserved1 @0xaedffd8f31e7b55d {
-  mads @0 :ModularAssistiveDrivingSystem;
 }
 
-struct ModelManagerSP @0xaedffd8f31e7b55d {
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
-  activeBundle @0 :ModelBundle;
-  selectedBundle @1 :ModelBundle;
-  availableBundles @2 :List(ModelBundle);
-
-  struct DownloadUri {
-    uri @0 :Text;
-    sha256 @1 :Text;
-  }
-
-  enum DownloadStatus {
-    notDownloading @0;
-    downloading @1;
-    downloaded @2;
-    cached @3;
-    failed @4;
-  }
-
-  struct DownloadProgress {
-    status @0 :DownloadStatus;
-    progress @1 :Float32;
-    eta @2 :UInt32;
-  }
-
-  struct Artifact {
-    fileName @0 :Text;
-    downloadUri @1 :DownloadUri;
-    downloadProgress @2 :DownloadProgress;
-  }
-
-  struct Model {
-    type @0 :Type;
-    artifact @1 :Artifact;  # Main artifact
-    metadata @2 :Artifact;  # Metadata artifact
-
-    enum Type {
-      supercombo @0;
-      navigation @1;
-      vision @2;
-      policy @3;
-    }
-  }
-
-  enum Runner {
-    snpe @0;
-    tinygrad @1;
-    stock @2;
-  }
-
-  struct Override {
-    key @0 :Text;
-    value @1 :Text;
-  }
-
-  struct ModelBundle {
-    index @0 :UInt32;
-    internalName @1 :Text;
-    displayName @2 :Text;
-    models @3 :List(Model);
-    status @4 :DownloadStatus;
-    generation @5 :UInt32;
-    environment @6 :Text;
-    runner @7 :Runner;
-    is20hz @8 :Bool;
-    ref @9 :Text;
-    minimumSelectorVersion @10 :UInt32;
-    overrides @11 :List(Override);
-  }
 }
 
-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+struct CustomReserved3 @0xda96579883444c35 {
-  dec @0 :DynamicExperimentalControl;
-
-  struct DynamicExperimentalControl {
-    state @0 :DynamicExperimentalControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-
-    enum DynamicExperimentalControlState {
-      acc @0;
-      blended @1;
-    }
-  }
 }
 
-struct OnroadEventSP @0xda96579883444c35 {
+struct CustomReserved4 @0x80ae746ee2596b11 {
-  events @0 :List(Event);
-
-  struct Event {
-    name @0 :EventName;
-
-    # event types
-    enable @1 :Bool;
-    noEntry @2 :Bool;
-    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-    userDisable @4 :Bool;
-    softDisable @5 :Bool;
-    immediateDisable @6 :Bool;
-    preEnable @7 :Bool;
-    permanent @8 :Bool; # alerts presented regardless of openpilot state
-    overrideLateral @10 :Bool;
-    overrideLongitudinal @9 :Bool;
-  }
-
-  enum EventName {
-    lkasEnable @0;
-    lkasDisable @1;
-    manualSteeringRequired @2;
-    manualLongitudinalRequired @3;
-    silentLkasEnable @4;
-    silentLkasDisable @5;
-    silentBrakeHold @6;
-    silentWrongGear @7;
-    silentReverseGear @8;
-    silentDoorOpen @9;
-    silentSeatbeltNotLatched @10;
-    silentParkBrake @11;
-    controlsMismatchLateral @12;
-    hyundaiRadarTracksConfirmed @13;
-    experimentalModeSwitched @14;
-    wrongCarModeAlertOnly @15;
-    pedalPressedAlertOnly @16;
-  }
 }
 
-struct CarParamsSP @0x80ae746ee2596b11 {
+struct CustomReserved5 @0xa5cd762cd951a455 {
-  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
-  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-
-  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
-
-  struct NeuralNetworkLateralControl {
-    model @0 :Model;
-    fuzzyFingerprint @1 :Bool;
-
-    struct Model {
-      path @0 :Text;
-      name @1 :Text;
-    }
-  }
 }
 
-struct CarControlSP @0xa5cd762cd951a455 {
+struct CustomReserved6 @0xf98d843bfd7004a3 {
-  mads @0 :ModularAssistiveDrivingSystem;
-  params @1 :List(Param);
-
-  struct Param {
-    key @0 :Text;
-    value @1 :Text;
-  }
 }
 
-struct BackupManagerSP @0xf98d843bfd7004a3 {
+struct CustomReserved7 @0xb86e6369214c01c8 {
-  backupStatus @0 :Status;
-  restoreStatus @1 :Status;
-  backupProgress @2 :Float32;
-  restoreProgress @3 :Float32;
-  lastError @4 :Text;
-  currentBackup @5 :BackupInfo;
-  backupHistory @6 :List(BackupInfo);
-
-  enum Status {
-    idle @0;
-    inProgress @1;
-    completed @2;
-    failed @3;
-  }
-
-  struct Version {
-    major @0 :UInt16;
-    minor @1 :UInt16;
-    patch @2 :UInt16;
-    build @3 :UInt16;
-    branch @4 :Text;
-  }
-
-  struct MetadataEntry {
-    key @0 :Text;
-    value @1 :Text;
-    tags @2 :List(Text);
-  }
-
-  struct BackupInfo {
-    deviceId @0 :Text;
-    version @1 :UInt32;
-    config @2 :Text;
-    isEncrypted @3 :Bool;
-    createdAt @4 :Text;  # ISO timestamp
-    updatedAt @5 :Text;  # ISO timestamp
-    sunnypilotVersion @6 :Version;
-    backupMetadata @7 :List(MetadataEntry);
-  }
 }
 
-struct CarStateSP @0xb86e6369214c01c8 {
+struct CustomReserved8 @0xf416ec09499d9d19 {
-}
-
-struct LiveMapDataSP @0xf416ec09499d9d19 {
-  speedLimitValid @0 :Bool;
-  speedLimit @1 :Float32;
-  speedLimitAheadValid @2 :Bool;
-  speedLimitAhead @3 :Float32;
-  speedLimitAheadDistance @4 :Float32;
-  roadName @5 :Text;
 }
 
 struct CustomReserved9 @0xa1680744031fdb2d {
 }
-
-struct CustomReserved10 @0xcb9fd56c7057593a {
-}
-
-struct CustomReserved11 @0xc2243c65e0340384 {
-}
-
-struct CustomReserved12 @0x9ccdc8676701b412 {
-}
-
-struct CustomReserved13 @0xcd96dafb67a082d0 {
-}
-
-struct CustomReserved14 @0xb057204d7deadf3f {
-}
-
-struct CustomReserved15 @0xbd443b539493bc68 {
-}
-
-struct CustomReserved16 @0xfc6241ed8877b611 {
-}
-
-struct CustomReserved17 @0xa30662f84033036c {
-}
-
-struct CustomReserved18 @0xc86a3d38d13eb3ef {
-}
-
-struct CustomReserved19 @0xa4f1eb3323f5f582 {
-}

cereal/log.capnp

@@ -17,122 +17,6 @@ struct Map(Key, Value) {
   }
 }
 
-struct OnroadEvent @0xc4fa6047f024e718 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName @0x91f1992a1f77fb03 {
-    canError @0;
-    steerUnavailable @1;
-    wrongGear @2;
-    doorOpen @3;
-    seatbeltNotLatched @4;
-    espDisabled @5;
-    wrongCarMode @6;
-    steerTempUnavailable @7;
-    reverseGear @8;
-    buttonCancel @9;
-    buttonEnable @10;
-    pedalPressed @11;  # exits active state
-    preEnableStandstill @12;  # added during pre-enable state with brake
-    gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
-    steerOverride @14;
-    steerDisengage @94;  # exits active state
-    cruiseDisabled @15;
-    speedTooLow @16;
-    outOfSpace @17;
-    overheat @18;
-    calibrationIncomplete @19;
-    calibrationInvalid @20;
-    calibrationRecalibrating @21;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    radarFault @25;
-    radarTempUnavailable @93;
-    brakeHold @26;
-    parkBrake @27;
-    manualRestart @28;
-    joystickDebug @29;
-    longitudinalManeuver @30;
-    steerTempUnavailableSilent @31;
-    resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
-    belowSteerSpeed @39;
-    lowBattery @40;
-    accFaulted @41;
-    sensorDataInvalid @42;
-    commIssue @43;
-    commIssueAvgFreq @44;
-    tooDistracted @45;
-    posenetInvalid @46;
-    preLaneChangeLeft @48;
-    preLaneChangeRight @49;
-    laneChange @50;
-    lowMemory @51;
-    stockAeb @52;
-    ldw @53;
-    carUnrecognized @54;
-    invalidLkasSetting @55;
-    speedTooHigh @56;
-    laneChangeBlocked @57;
-    relayMalfunction @58;
-    stockFcw @59;
-    startup @60;
-    startupNoCar @61;
-    startupNoControl @62;
-    startupNoSecOcKey @63;
-    startupMaster @64;
-    fcw @65;
-    steerSaturated @66;
-    belowEngageSpeed @67;
-    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;
-    steerTimeLimit @83;
-    vehicleSensorsInvalid @84;
-    locationdTemporaryError @85;
-    locationdPermanentError @86;
-    paramsdTemporaryError @87;
-    paramsdPermanentError @88;
-    actuatorsApiUnavailable @89;
-    espActive @90;
-    personalityChanged @91;
-    aeb @92;
-    userFlag @95;
-
-    soundsUnavailableDEPRECATED @47;
-  }
-}
-
 enum LongitudinalPersonality {
   aggressive @0;
   standard @1;
@@ -154,10 +38,6 @@ struct InitData {
   gitBranch @11 :Text;
   gitRemote @13 :Text;
 
-  # this is source commit for prebuilt branches
-  gitSrcCommit @23 :Text;
-  gitSrcCommitDate @24 :Text;
-
   androidProperties @16 :Map(Text, Text);
 
   pandaInfo @8 :PandaInfo;
@@ -416,7 +296,6 @@ struct GpsLocationData {
   speedAccuracy @12 :Float32;
 
   hasFix @13 :Bool;
-  satelliteCount @14 :Int8;
 
   enum SensorSource {
     android @0;
@@ -490,14 +369,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   # device thermals
   cpuTempC @26 :List(Float32);
   gpuTempC @27 :List(Float32);
-  dspTempC @49 :Float32;
   memoryTempC @28 :Float32;
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
-  intakeTempC @46 :Float32;
-  exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
@@ -732,7 +607,7 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
-  radarErrors @13 :Car.RadarData.Error;
+  radarErrors @12 :List(Car.RadarData.Error);
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
@@ -766,7 +641,6 @@ struct RadarState @0x9a185389d6fdd05f {
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
   cumLagMsDEPRECATED @5 :Float32;
-  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
 }
 
 struct LiveCalibrationData {
@@ -857,6 +731,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   lateralPlanMonoTime @50 :UInt64;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
+  vTargetLead @3 :Float32;
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
@@ -865,6 +740,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   forceDecel @51 :Bool;
 
   lateralControlState :union {
+    indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
@@ -872,7 +748,6 @@ struct ControlsState @0x97ff69c53601abf1 {
 
     curvatureStateDEPRECATED @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :LateralLQRState;
-    indiStateDEPRECATED @52 :LateralINDIState;
   }
 
   struct LateralINDIState {
@@ -1006,7 +881,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   startMonoTimeDEPRECATED @48 :UInt64;
   cumLagMsDEPRECATED @15 :Float32;
   aTargetDEPRECATED @35 :Float32;
-  vTargetLeadDEPRECATED @3 :Float32;
 }
 
 struct DrivingModelData {
@@ -1177,8 +1051,6 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
-    desiredAcceleration @1 :Float32;
-    shouldStop @2 :Bool;
   }
 }
 
@@ -1285,7 +1157,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   radarValidDEPRECATED @28 :Bool;
   radarCanErrorDEPRECATED @30 :Bool;
   commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
+  eventsDEPRECATED @13 :List(Car.OnroadEvent);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
   personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -1591,10 +1463,6 @@ struct UbloxGnss {
       svId @0 :UInt8;
       gnssId @1 :UInt8;
       flagsBitfield @2 :UInt32;
-      cno @3 :UInt8;
-      elevationDeg @4 :Int8;
-      azimuthDeg @5 :Int16;
-      pseudorangeResidual @6 :Float32;
     }
   }
 
@@ -2204,7 +2072,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }
 
 struct DriverMonitoringState @0xb83cda094a1da284 {
-  events @18 :List(OnroadEvent);
+  events @0 :List(Car.OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
   distractedType @17 :UInt32;
@@ -2223,7 +2091,6 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
-  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 
 struct Boot {
@@ -2253,11 +2120,6 @@ struct LiveParametersData {
   roll @14 :Float32;
   debugFilterState @16 :FilterState;
 
-  angleOffsetValid @17 :Bool = true;
-  angleOffsetAverageValid @18 :Bool = true;
-  steerRatioValid @19 :Bool = true;
-  stiffnessFactorValid @20 :Bool = true;
-
   yawRateDEPRECATED @7 :Float32;
   filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
 
@@ -2281,24 +2143,6 @@ struct LiveTorqueParametersData {
   points @10 :List(List(Float32));
   version @11 :Int32;
   useParams @12 :Bool;
-  calPerc @13 :Int8;
-}
-
-struct LiveDelayData {
-  lateralDelay @0 :Float32;
-  validBlocks @1 :Int32;
-  status @2 :Status;
-
-  lateralDelayEstimate @3 :Float32;
-  lateralDelayEstimateStd @5 :Float32;
-  points @4 :List(Float32);
-  calPerc @6 :Int8;
-
-  enum Status {
-    unestimated @0;
-    estimated @1;
-    invalid @2;
-  }
 }
 
 struct LiveMapDataDEPRECATED {
@@ -2479,14 +2323,6 @@ struct Microphone {
   filteredSoundPressureWeightedDb @2 :Float32;
 }
 
-struct Touch {
-  sec @0 :Int64;
-  usec @1 :Int64;
-  type @2 :UInt8;
-  code @3 :Int32;
-  value @4 :Int32;
-}
-
 struct Event {
   logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
@@ -2531,10 +2367,9 @@ struct Event {
     gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    onroadEvents @134: List(OnroadEvent);
+    onroadEvents @68: List(Car.OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     livePose @129 :LivePose;
@@ -2568,9 +2403,6 @@ struct Event {
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
-    # touch frame
-    touch @135 :List(Touch);
-
     # navigation
     navInstruction @82 :NavInstruction;
     navRoute @83 :NavRoute;
@@ -2593,37 +2425,21 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
-    # *********** Custom: reserved for forks ***********
-
-    # DO change the name of the field
-    # DON'T change anything after the "@"
     customReservedRawData0 @124 :Data;
     customReservedRawData1 @125 :Data;
     customReservedRawData2 @126 :Data;
 
-    # DO change the name of the field and struct
+    # *********** Custom: reserved for forks ***********
-    # DON'T change the ID (e.g. @107)
+    customReserved0 @107 :Custom.CustomReserved0;
-    # DON'T change which struct it points to
+    customReserved1 @108 :Custom.CustomReserved1;
-    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
+    customReserved2 @109 :Custom.CustomReserved2;
-    modelManagerSP @108 :Custom.ModelManagerSP;
+    customReserved3 @110 :Custom.CustomReserved3;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    customReserved4 @111 :Custom.CustomReserved4;
-    onroadEventsSP @110 :Custom.OnroadEventSP;
+    customReserved5 @112 :Custom.CustomReserved5;
-    carParamsSP @111 :Custom.CarParamsSP;
+    customReserved6 @113 :Custom.CustomReserved6;
-    carControlSP @112 :Custom.CarControlSP;
+    customReserved7 @114 :Custom.CustomReserved7;
-    backupManagerSP @113 :Custom.BackupManagerSP;
+    customReserved8 @115 :Custom.CustomReserved8;
-    carStateSP @114 :Custom.CarStateSP;
-    liveMapDataSP @115 :Custom.LiveMapDataSP;
     customReserved9 @116 :Custom.CustomReserved9;
-    customReserved10 @136 :Custom.CustomReserved10;
-    customReserved11 @137 :Custom.CustomReserved11;
-    customReserved12 @138 :Custom.CustomReserved12;
-    customReserved13 @139 :Custom.CustomReserved13;
-    customReserved14 @140 :Custom.CustomReserved14;
-    customReserved15 @141 :Custom.CustomReserved15;
-    customReserved16 @142 :Custom.CustomReserved16;
-    customReserved17 @143 :Custom.CustomReserved17;
-    customReserved18 @144 :Custom.CustomReserved18;
-    customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2668,6 +2484,5 @@ struct Event {
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
-    onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
   }
 }

cereal/maptile.capnp

@@ -0,0 +1,49 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}

cereal/messaging/__init__.py

@@ -9,11 +9,11 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Optional, List, Union, Dict, Deque
+from collections import deque
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
@@ -108,8 +108,10 @@ class FrequencyTracker:
 
     self.min_freq = min_freq * 0.8
     self.max_freq = max_freq * 1.2
-    self.avg_dt = MovingAverage(int(10 * freq))
+    self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
-    self.recent_avg_dt = MovingAverage(int(freq))
+    self.recv_dts_sum = 0.0
+    self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
+    self.recent_recv_dts_sum = 0.0
     self.prev_time = 0.0
 
   def record_recv_time(self, cur_time: float) -> None:
@@ -117,21 +119,28 @@ class FrequencyTracker:
     if self.prev_time > 1e-5:
       dt = cur_time - self.prev_time
 
-      self.avg_dt.add_value(dt)
+      if len(self.recv_dts) == self.recv_dts.maxlen:
-      self.recent_avg_dt.add_value(dt)
+        self.recv_dts_sum -= self.recv_dts[0]
+      self.recv_dts.append(dt)
+      self.recv_dts_sum += dt
+
+      if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
+        self.recent_recv_dts_sum -= self.recent_recv_dts[0]
+      self.recent_recv_dts.append(dt)
+      self.recent_recv_dts_sum += dt
 
     self.prev_time = cur_time
 
   @property
   def valid(self) -> bool:
-    if self.avg_dt.count == 0:
+    if not self.recv_dts:
       return False
 
-    avg_freq = 1.0 / self.avg_dt.get_average()
+    avg_freq = len(self.recv_dts) / self.recv_dts_sum
     if self.min_freq <= avg_freq <= self.max_freq:
       return True
 
-    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
+    avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
     return self.min_freq <= avg_freq_recent <= self.max_freq
 
 
@@ -145,16 +154,12 @@ class SubMaster:
     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.alive = {s: False for s in services}
+    self.freq_ok = {s: False for s in services}
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.valid = {}
-
+    self.logMonoTime = {}
-    # 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.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.poller = Poller()
@@ -181,6 +186,8 @@ class SubMaster:
         data = new_message(s, 0) # lists
 
       self.data[s] = getattr(data.as_reader(), s)
+      self.logMonoTime[s] = 0
+      self.valid[s] = False
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
@@ -217,10 +224,14 @@ class SubMaster:
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.static_freq_services:
+    for s in self.services:
-      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
-      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
+        # alive if delay is within 10x the expected frequency
-      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
+        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
+        self.freq_ok[s] = self.freq_tracker[s].valid
+      else:
+        self.freq_ok[s] = True
+        self.alive[s] = self.seen[s] if self.simulation else True
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)

cereal/messaging/bridge.cc

@@ -6,12 +6,12 @@
 
 ExitHandler do_exit;
 
-static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
     std::string name = it.second.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
+    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
       continue;
     }
     service_list.push_back(name);

cereal/messaging/msgq_to_zmq.cc

@@ -48,12 +48,11 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
 
-          while (pub_sock->sendMessage(msg.get()) == -1) {
+          while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
             if (errno != EINTR) break;
           }
         }

cereal/messaging/tests/test_messaging.py

@@ -168,18 +168,18 @@ class TestMessaging:
 
     # 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
+      # wait 15 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)
+      time.sleep(sock_timeout*15)
       assert p.is_alive()
       p.terminate()
 
-    # wait 5 socket timeouts before sending
+    # wait 15 socket timeouts before sending
     msg = random_carstate()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
+    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
+    assert (time.monotonic() - start_time) >= sock_timeout*15
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)

cereal/messaging/tests/test_pub_sub_master.py

@@ -6,7 +6,6 @@ import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
-from cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
@@ -27,9 +26,7 @@ class TestSubMaster:
     sm = messaging.SubMaster(socks)
     assert sm.frame == -1
     assert not any(sm.updated.values())
-    assert not any(sm.seen.values())
+    assert not any(sm.alive.values())
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
-    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
     assert all(t == 0. for t in sm.recv_time.values())
     assert all(f == 0 for f in sm.recv_frame.values())
     assert all(t == 0 for t in sm.logMonoTime.values())
@@ -66,13 +63,14 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
+    for _ in range(5):
-    start_time = time.monotonic()
+      timeout = random.randrange(1000, 5000)
-    sm.update(timeout)
+      start_time = time.monotonic()
-    t = time.monotonic() - start_time
+      sm.update(timeout)
-    assert t >= timeout/1000.
+      t = time.monotonic() - start_time
-    assert t < 3
+      assert t >= timeout/1000.
-    assert not any(sm.updated.values())
+      assert t < 5
+      assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
@@ -86,7 +84,6 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
-        "userFlag": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():

cereal/messaging/tests/test_services.py

@@ -17,5 +17,5 @@ class TestServices:
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
       assert ret == 0, "generated services header is not valid C"

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,222 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import sys
-from typing import Any, List, Tuple
-
-DEBUG = False
-
-
-def print_debug(string: str) -> None:
-  if DEBUG:
-    print(string)
-
-
-def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
-  """
-  Create a new instance of a schema type, handling different field types.
-
-  Args:
-      struct: The Cap'n Proto schema structure
-      prop: A tuple containing the field name and field metadata
-
-  Returns:
-      A new initialized schema instance
-  """
-  struct_instance = struct.new_message()
-  field_name, field_metadata = prop
-
-  try:
-    field_type = field_metadata.proto.slot.type.which()
-
-    # Initialize different types of fields
-    if field_type in ('list', 'text', 'data'):
-      struct_instance.init(field_name, 1)
-      print_debug(f"Initialized list/text/data field: {field_name}")
-    elif field_type in ('struct', 'object'):
-      struct_instance.init(field_name)
-      print_debug(f"Initialized struct/object field: {field_name}")
-
-    return struct_instance
-
-  except Exception as e:
-    print(f"Error creating instance for {field_name}: {e}")
-    return None
-
-
-def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
-  """
-  Retrieve all fields from a given schema structure.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of field names and their metadata
-  """
-  try:
-    # Get all fields from the schema
-    schema_fields = list(schema_struct.schema.fields.items())
-
-    print_debug("Discovered schema fields:")
-    for field_name, field_metadata in schema_fields:
-      print_debug(f"- {field_name}")
-
-    return schema_fields
-
-  except Exception as e:
-    print(f"Error retrieving schema fields: {e}")
-    return []
-
-
-def generate_schema_instances(schema_struct: Any) -> List[Any]:
-  """
-  Generate instances for all fields in a given schema.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of schema instances
-  """
-  schema_fields = get_schema_fields(schema_struct)
-  instances = []
-
-  for field_prop in schema_fields:
-    try:
-      instance = create_schema_instance(schema_struct, field_prop)
-      if instance is not None:
-        instances.append(instance)
-    except Exception as e:
-      print(f"Skipping field due to error: {e}")
-
-  print(f"Generated {len(instances)} schema instances")
-  return instances
-
-
-def persist_instances(instances: List[Any], filename: str) -> None:
-  """
-  Write schema instances to a binary file.
-
-  Args:
-      instances: List of schema instances
-      filename: Output file path
-  """
-  try:
-    with open(filename, 'wb') as f:
-      for instance in instances:
-        f.write(instance.to_bytes())
-
-    print(f"Successfully wrote {len(instances)} instances to {filename}")
-
-  except Exception as e:
-    print(f"Error persisting instances: {e}")
-    sys.exit(1)
-
-
-def read_instances(filename: str, schema_type: Any) -> List[Any]:
-  """
-  Read schema instances from a binary file.
-
-  Args:
-      filename: Input file path
-      schema_type: The schema type to use for reading
-
-  Returns:
-      A list of read schema instances
-  """
-  try:
-    with open(filename, 'rb') as f:
-      data = f.read()
-
-    instances = list(schema_type.read_multiple_bytes(data))
-
-    print(f"Read {len(instances)} instances from {filename}")
-    return instances
-
-  except Exception as e:
-    print(f"Error reading instances: {e}")
-    sys.exit(1)
-
-
-def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
-  """
-  Compare original and read-back instances to detect potential breaking changes.
-
-  Args:
-      original_instances: List of originally generated instances
-      read_instances: List of instances read back from file
-
-  Returns:
-      Boolean indicating whether schemas appear compatible
-  """
-  if len(original_instances) != len(read_instances):
-    print("❌ Schema Compatibility Warning: Instance count mismatch")
-    return False
-
-  compatible = True
-  for struct in read_instances:
-    try:
-      getattr(struct, struct.which())  # Attempting to access the field to validate readability
-    except Exception as e:
-      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
-      compatible = False
-
-  return compatible
-
-
-def main():
-  """
-  CLI entry point for schema compatibility testing.
-  """
-  # Setup argument parser
-  parser = argparse.ArgumentParser(
-    description='Cap\'n Proto Schema Compatibility Testing Tool',
-    epilog='Test schema compatibility by generating and reading back instances.'
-  )
-
-  # Add mutually exclusive group for generation or reading mode
-  mode_group = parser.add_mutually_exclusive_group(required=True)
-  mode_group.add_argument('-g', '--generate', action='store_true',
-                          help='Generate schema instances')
-  mode_group.add_argument('-r', '--read', action='store_true',
-                          help='Read and validate schema instances')
-
-  # Common arguments
-  parser.add_argument('-f', '--file',
-                      default='schema_instances.bin',
-                      help='Output/input binary file (default: schema_instances.bin)')
-
-  # Parse arguments
-  args = parser.parse_args()
-
-  # Import the schema dynamically 
-  try:
-    from cereal import log
-    schema_type = log.Event
-  except ImportError:
-    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
-    sys.exit(1)
-
-  # Execute based on mode
-  if args.generate:
-    print("🔧 Generating Schema Instances")
-    instances = generate_schema_instances(schema_type)
-    persist_instances(instances, args.file)
-    print("✅ Instance generation complete")
-
-  elif args.read:
-    print("🔍 Reading and Validating Schema Instances")
-    generated_instances = generate_schema_instances(schema_type)
-    read_back_instances = read_instances(args.file, schema_type)
-
-    # Compare schemas
-    if compare_schemas(generated_instances, read_back_instances):
-      print("✅ Schema Compatibility: No breaking changes detected")
-      sys.exit(0)
-    else:
-      print("❌ Potential Schema Breaking Changes Detected")
-      sys.exit(1)
-
-
-if __name__ == "__main__":
-  main()

cereal/services.py

@@ -22,7 +22,6 @@ _services: dict[str, tuple] = {
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
   "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "selfdriveState": (True, 100., 10),
@@ -36,7 +35,6 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
@@ -54,7 +52,7 @@ _services: dict[str, tuple] = {
   "livePose": (True, 20., 4),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
+  "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
@@ -75,17 +73,6 @@ _services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
-  # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
-  "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),
-  "onroadEventsSP": (True, 1., 1),
-  "carParamsSP": (True, 0.02, 1),
-  "carControlSP": (True, 100., 10),
-  "carStateSP": (True, 100., 10),
-  "liveMapDataSP": (True, 1., 1),
-
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/SConscript

@@ -4,10 +4,14 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
+  'i2c.cc',
   'watchdog.cc',
   'ratekeeper.cc'
 ]
 
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
 _common = env.Library('common', common_libs, LIBS="json11")
 
 files = [

common/api/__init__.py

@@ -1,22 +1,46 @@
-from openpilot.common.api.comma_connect import CommaConnectApi
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
 
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
 class Api:
   def __init__(self, dongle_id):
-    self.service = CommaConnectApi(dongle_id)
+    self.dongle_id = dongle_id
-
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-  def request(self, method, endpoint, **params):
+      self.private_key = f.read()
-    return self.service.request(method, endpoint, **params)
 
   def get(self, *args, **kwargs):
-    return self.service.get(*args, **kwargs)
+    return self.request('GET', *args, **kwargs)
 
   def post(self, *args, **kwargs):
-    return self.service.post(*args, **kwargs)
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def get_token(self, expiry_hours=1):
-    return self.service.get_token(expiry_hours)
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
 
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/api/base.py

@@ -1,56 +0,0 @@
-import jwt
-import requests
-import unicodedata
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-
-class BaseApi:
-  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
-    self.dongle_id = dongle_id
-    self.api_host = api_host
-    self.user_agent = user_agent
-    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def _get_token(self, expiry_hours=1, **extra_payload):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours),
-      **extra_payload
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-  def get_token(self, expiry_hours=1):
-    return self._get_token(expiry_hours)
-
-  def remove_non_ascii_chars(self, text):
-    normalized_text = unicodedata.normalize('NFD', text)
-    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
-    return ascii_encoded_text.decode()
-
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
-    headers = {}
-    if access_token is not None:
-      headers['Authorization'] = "JWT " + access_token
-
-    version = self.remove_non_ascii_chars(get_version())
-    headers['User-Agent'] = self.user_agent + version
-
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)

common/api/comma_connect.py

@@ -1,11 +0,0 @@
-import os
-
-from openpilot.common.api.base import BaseApi
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-
-class CommaConnectApi(BaseApi):
-  def __init__(self, dongle_id):
-    super().__init__(dongle_id, API_HOST)
-    self.user_agent = "openpilot-"

common/clutil.cc

@@ -79,10 +79,6 @@ cl_context cl_create_context(cl_device_id device_id) {
   return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }
 
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
   return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
@@ -96,3 +92,109 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
   }
   return prg;
 }
+
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}
+
+// Given a cl code and return a string representation
+#define CL_ERR_TO_STR(err) case err: return #err
+const char* cl_get_error_string(int err) {
+  switch (err) {
+    CL_ERR_TO_STR(CL_SUCCESS);
+    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
+    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
+    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
+    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
+    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
+    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
+    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
+    CL_ERR_TO_STR(CL_MAP_FAILURE);
+    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
+    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
+    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
+    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
+    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
+    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
+    CL_ERR_TO_STR(CL_INVALID_VALUE);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
+    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE);
+    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
+    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
+    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
+    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
+    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
+    CL_ERR_TO_STR(CL_INVALID_BINARY);
+    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
+    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL);
+    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
+    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
+    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
+    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
+    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
+    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
+    CL_ERR_TO_STR(CL_INVALID_EVENT);
+    CL_ERR_TO_STR(CL_INVALID_OPERATION);
+    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
+    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
+    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
+    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
+    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
+    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
+    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
+    case -69: return "CL_INVALID_PIPE_SIZE";
+    case -70: return "CL_INVALID_DEVICE_QUEUE";
+    case -71: return "CL_INVALID_SPEC_ID";
+    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
+    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
+    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
+    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
+    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
+    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
+    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
+    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
+    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
+    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
+    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
+    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
+    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
+    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
+    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
+    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
+    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
+    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
+    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
+    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
+    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
+    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
+    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
+    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
+    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
+    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
+    default: return "CL_UNKNOWN_ERROR";
+  }
+}

common/clutil.h

@@ -23,6 +23,7 @@
 
 cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
+const char* cl_get_error_string(int err);

common/ffi_wrapper.py

@@ -0,0 +1,8 @@
+import platform
+
+
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"

common/file_helpers.py

@@ -1,10 +1,6 @@
-import io
 import os
 import tempfile
 import contextlib
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
 
 
 class CallbackReader:
@@ -39,20 +35,3 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
     yield tmp_file
     tmp_file_name = tmp_file.name
   os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size

common/filter_simple.py

@@ -1,4 +1,5 @@
 class FirstOrderFilter:
+  # first order filter
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
     self.dt = dt

common/gpio.cc

@@ -0,0 +1,84 @@
+#include "common/gpio.h"
+
+#include <string>
+
+#ifdef __APPLE__
+int gpio_init(int pin_nr, bool output) {
+  return 0;
+}
+
+int gpio_set(int pin_nr, bool high) {
+  return 0;
+}
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+  return 0;
+}
+
+#else
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <cstring>
+#include <linux/gpio.h>
+#include <sys/ioctl.h>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+int gpio_init(int pin_nr, bool output) {
+  char pin_dir_path[50];
+  int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
+                           "/sys/class/gpio/gpio%d/direction", pin_nr);
+  if (pin_dir_path_len <= 0) {
+    return -1;
+  }
+  const char *value = output ? "out" : "in";
+  return util::write_file(pin_dir_path, (void*)value, strlen(value));
+}
+
+int gpio_set(int pin_nr, bool high) {
+  char pin_val_path[50];
+  int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
+                           "/sys/class/gpio/gpio%d/value", pin_nr);
+  if (pin_val_path_len <= 0) {
+    return -1;
+  }
+  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
+}
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+
+  // Assumed that all interrupt pins are unexported and rights are given to
+  // read from gpiochip0.
+  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
+  int fd = open(gpiochip_path.c_str(), O_RDONLY);
+  if (fd < 0) {
+    LOGE("Error opening gpiochip0 fd");
+    return -1;
+  }
+
+  // Setup event
+  struct gpioevent_request rq;
+  rq.lineoffset = pin_nr;
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
+
+  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
+     very short(75us) and is mostly detected as falling edge instead of rising.
+     So if it is detected as rising the following falling edge is skipped. */
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
+
+  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
+  int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
+  if (ret == -1) {
+    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
+    close(fd);
+    return -1;
+  }
+
+  close(fd);
+  return rq.fd;
+}
+
+#endif

common/gpio.h

@@ -0,0 +1,33 @@
+#pragma once
+
+// Pin definitions
+#ifdef QCOM2
+  #define GPIO_HUB_RST_N        30
+  #define GPIO_UBLOX_RST_N      32
+  #define GPIO_UBLOX_SAFEBOOT_N 33
+  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
+  #define GPIO_STM_RST_N        124
+  #define GPIO_STM_BOOT0        134
+  #define GPIO_BMX_ACCEL_INT    21
+  #define GPIO_BMX_GYRO_INT     23
+  #define GPIO_BMX_MAGN_INT     87
+  #define GPIO_LSM_INT          84
+  #define GPIOCHIP_INT          0
+#else
+  #define GPIO_HUB_RST_N        0
+  #define GPIO_UBLOX_RST_N      0
+  #define GPIO_UBLOX_SAFEBOOT_N 0
+  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
+  #define GPIO_STM_RST_N        0
+  #define GPIO_STM_BOOT0        0
+  #define GPIO_BMX_ACCEL_INT    0
+  #define GPIO_BMX_GYRO_INT     0
+  #define GPIO_BMX_MAGN_INT     0
+  #define GPIO_LSM_INT          0
+  #define GPIOCHIP_INT          0
+#endif
+
+int gpio_init(int pin_nr, bool output);
+int gpio_set(int pin_nr, bool high);
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);

common/gpio.py

@@ -1,6 +1,4 @@
 import os
-import fcntl
-import ctypes
 from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -54,36 +52,3 @@ def get_irqs_for_action(action: str) -> list[str]:
       if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret
-
-# *** gpiochip ***
-
-class gpioevent_data(ctypes.Structure):
-  _fields_ = [
-    ("timestamp", ctypes.c_uint64),
-    ("id", ctypes.c_uint32),
-  ]
-
-class gpioevent_request(ctypes.Structure):
-  _fields_ = [
-    ("lineoffset", ctypes.c_uint32),
-    ("handleflags", ctypes.c_uint32),
-    ("eventflags", ctypes.c_uint32),
-    ("label", ctypes.c_char * 32),
-    ("fd", ctypes.c_int)
-  ]
-
-def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
-  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
-  GPIOHANDLE_REQUEST_INPUT = 0x1
-  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
-
-  rq = gpioevent_request()
-  rq.lineoffset = pin
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
-  rq.label = label.encode('utf-8')[:31] + b'\0'
-
-  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
-  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
-  os.close(fd)
-  return int(rq.fd)

common/i2c.cc

@@ -0,0 +1,92 @@
+#include "common/i2c.h"
+
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <cassert>
+#include <cstdio>
+#include <stdexcept>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+#define UNUSED(x) (void)(x)
+
+#ifdef QCOM2
+// TODO: decide if we want to install libi2c-dev everywhere
+extern "C" {
+  #include <linux/i2c-dev.h>
+  #include <i2c/smbus.h>
+}
+
+I2CBus::I2CBus(uint8_t bus_id) {
+  char bus_name[20];
+  snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
+
+  i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
+  if (i2c_fd < 0) {
+    throw std::runtime_error("Failed to open I2C bus");
+  }
+}
+
+I2CBus::~I2CBus() {
+  if (i2c_fd >= 0) {
+    close(i2c_fd);
+  }
+}
+
+int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
+  std::lock_guard lk(m);
+
+  int ret = 0;
+
+  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
+  if (ret < 0) { goto fail; }
+
+  ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
+  if ((ret < 0) || (ret != len)) { goto fail; }
+
+fail:
+  return ret;
+}
+
+int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
+  std::lock_guard lk(m);
+
+  int ret = 0;
+
+  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
+  if (ret < 0) { goto fail; }
+
+  ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
+  if (ret < 0) { goto fail; }
+
+fail:
+  return ret;
+}
+
+#else
+
+I2CBus::I2CBus(uint8_t bus_id) {
+  UNUSED(bus_id);
+  i2c_fd = -1;
+}
+
+I2CBus::~I2CBus() {}
+
+int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
+  UNUSED(device_address);
+  UNUSED(register_address);
+  UNUSED(buffer);
+  UNUSED(len);
+  return -1;
+}
+
+int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
+  UNUSED(device_address);
+  UNUSED(register_address);
+  UNUSED(data);
+  return -1;
+}
+#endif

common/i2c.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <cstdint>
+#include <mutex>
+
+#include <sys/types.h>
+
+class I2CBus {
+  private:
+    int i2c_fd;
+    std::mutex m;
+
+  public:
+    I2CBus(uint8_t bus_id);
+    ~I2CBus();
+
+    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
+    int set_register(uint8_t device_address, uint register_address, uint8_t data);
+};

common/logging_extra.py

@@ -8,7 +8,6 @@ import uuid
 import socket
 import logging
 import traceback
-import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -16,8 +15,6 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
 
 def json_handler(obj):
-  if isinstance(obj, np.bool_):
-    return bool(obj)
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
   return repr(obj)
@@ -199,6 +196,7 @@ class SwagLogger(logging.Logger):
       co = f.f_code
       filename = os.path.normcase(co.co_filename)
 
+      # TODO: is this pylint exception correct?
       if filename == _srcfile:
         f = f.f_back
         continue

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)"

common/numpy_fast.py

@@ -0,0 +1,19 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+def interp(x, xp, fp):
+  N = len(xp)
+
+  def get_interp(xv):
+    hi = 0
+    while hi < N and xv > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and xv > xp[low] else (
+      fp[0] if hi == 0 else
+      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)

common/params.cc

@@ -8,7 +8,6 @@
 #include <csignal>
 #include <unordered_map>
 
-#include "common/params_keys.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
@@ -88,6 +87,121 @@ private:
   int fd_ = -1;
 };
 
+std::unordered_map<std::string, uint32_t> keys = {
+    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AlwaysOnDM", PERSISTENT},
+    {"ApiCache_Device", PERSISTENT},
+    {"AssistNowToken", PERSISTENT},
+    {"AthenadPid", PERSISTENT},
+    {"AthenadUploadQueue", PERSISTENT},
+    {"AthenadRecentlyViewedRoutes", PERSISTENT},
+    {"BootCount", PERSISTENT},
+    {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
+    {"CarBatteryCapacity", PERSISTENT},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CarParamsCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsPersistent", PERSISTENT},
+    {"CarParamsPrevRoute", PERSISTENT},
+    {"CompletedTrainingVersion", PERSISTENT},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CurrentBootlog", PERSISTENT},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisablePowerDown", PERSISTENT},
+    {"DisableUpdates", PERSISTENT},
+    {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
+    {"DongleId", PERSISTENT},
+    {"DoReboot", CLEAR_ON_MANAGER_START},
+    {"DoShutdown", CLEAR_ON_MANAGER_START},
+    {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
+    {"GitBranch", PERSISTENT},
+    {"GitCommit", PERSISTENT},
+    {"GitCommitDate", PERSISTENT},
+    {"GitDiff", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT},
+    {"GithubUsername", PERSISTENT},
+    {"GitRemote", PERSISTENT},
+    {"GsmApn", PERSISTENT},
+    {"GsmMetered", PERSISTENT},
+    {"GsmRoaming", PERSISTENT},
+    {"HardwareSerial", PERSISTENT},
+    {"HasAcceptedTerms", PERSISTENT},
+    {"IMEI", PERSISTENT},
+    {"InstallDate", PERSISTENT},
+    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
+    {"IsEngaged", PERSISTENT},
+    {"IsLdwEnabled", PERSISTENT},
+    {"IsMetric", PERSISTENT},
+    {"IsOffroad", CLEAR_ON_MANAGER_START},
+    {"IsOnroad", PERSISTENT},
+    {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
+    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LanguageSetting", PERSISTENT},
+    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
+    {"LastGPSPosition", PERSISTENT},
+    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
+    {"LastUpdateException", CLEAR_ON_MANAGER_START},
+    {"LastUpdateTime", PERSISTENT},
+    {"LiveParameters", PERSISTENT},
+    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LocationFilterInitialState", PERSISTENT},
+    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalPersonality", PERSISTENT},
+    {"NetworkMetered", PERSISTENT},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaSignatures", CLEAR_ON_MANAGER_START},
+    {"PrimeType", PERSISTENT},
+    {"RecordFront", PERSISTENT},
+    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
+    {"RouteCount", PERSISTENT},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"SshEnabled", PERSISTENT},
+    {"TermsVersion", PERSISTENT},
+    {"TrainingVersion", PERSISTENT},
+    {"UbloxAvailable", PERSISTENT},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
+    {"UpdaterAvailableBranches", PERSISTENT},
+    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
+    {"UpdaterLastFetchTime", PERSISTENT},
+    {"Version", PERSISTENT},
+};
+
 } // namespace
 
 
@@ -103,12 +217,10 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys(ParamKeyType type) const {
+std::vector<std::string> Params::allKeys() const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    if (type == ALL || (p.second & type)) {
+    ret.push_back(p.first);
-      ret.push_back(p.first);
-    }
   }
   return ret;
 }
@@ -142,7 +254,7 @@ int Params::put(const char* key, const char* value, size_t value_size) {
     }
 
     // fsync to force persist the changes.
-    if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
+    if ((result = fsync(tmp_fd)) < 0) break;
 
     FileLock file_lock(params_path + "/.lock");
 

common/params.h

@@ -16,7 +16,6 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
-  BACKUP = 0x80,
   ALL = 0xFFFFFFFF
 };
 
@@ -28,7 +27,7 @@ public:
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys(ParamKeyType type = ALL) const;
+  std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {

common/params_keys.h

@@ -1,201 +0,0 @@
-#pragma once
-
-#include <string>
-#include <unordered_map>
-
-inline static std::unordered_map<std::string, uint32_t> keys = {
-    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
-    {"AlwaysOnDM", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_FirehoseStats", PERSISTENT},
-    {"AssistNowToken", PERSISTENT},
-    {"AthenadPid", PERSISTENT},
-    {"AthenadUploadQueue", PERSISTENT},
-    {"AthenadRecentlyViewedRoutes", PERSISTENT},
-    {"BootCount", PERSISTENT},
-    {"CalibrationParams", PERSISTENT},
-    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
-    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
-    {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsPersistent", PERSISTENT},
-    {"CarParamsPrevRoute", PERSISTENT},
-    {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CurrentBootlog", PERSISTENT},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT | BACKUP},
-    {"DisableUpdates", PERSISTENT | BACKUP},
-    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
-    {"DongleId", PERSISTENT},
-    {"DoReboot", CLEAR_ON_MANAGER_START},
-    {"DoShutdown", CLEAR_ON_MANAGER_START},
-    {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
-    {"ExperimentalMode", PERSISTENT | BACKUP},
-    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ForcePowerDown", PERSISTENT},
-    {"GitBranch", PERSISTENT},
-    {"GitCommit", PERSISTENT},
-    {"GitCommitDate", PERSISTENT},
-    {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT | BACKUP},
-    {"GithubUsername", PERSISTENT | BACKUP},
-    {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT | BACKUP},
-    {"GsmMetered", PERSISTENT | BACKUP},
-    {"GsmRoaming", PERSISTENT | BACKUP},
-    {"HardwareSerial", PERSISTENT},
-    {"HasAcceptedTerms", PERSISTENT},
-    {"InstallDate", PERSISTENT},
-    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
-    {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT | BACKUP},
-    {"IsMetric", PERSISTENT | BACKUP},
-    {"IsOffroad", CLEAR_ON_MANAGER_START},
-    {"IsOnroad", PERSISTENT},
-    {"IsRhdDetected", PERSISTENT},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
-    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT | BACKUP},
-    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
-    {"LastGPSPosition", PERSISTENT},
-    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-    {"LastUpdateException", CLEAR_ON_MANAGER_START},
-    {"LastUpdateTime", PERSISTENT},
-    {"LiveDelay", PERSISTENT | BACKUP},
-    {"LiveParameters", PERSISTENT},
-    {"LiveParametersV2", PERSISTENT},
-    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"LocationFilterInitialState", PERSISTENT},
-    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT},
-    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSignatures", CLEAR_ON_MANAGER_START},
-    {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT | BACKUP},
-    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
-    {"RouteCount", PERSISTENT},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT | BACKUP},
-    {"TermsVersion", PERSISTENT},
-    {"TrainingVersion", PERSISTENT},
-    {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterAvailableBranches", PERSISTENT},
-    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
-    {"UpdaterLastFetchTime", PERSISTENT},
-    {"Version", PERSISTENT},
-
-    // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"AutoLaneChangeBsmDelay", PERSISTENT},
-    {"AutoLaneChangeTimer", PERSISTENT},
-    {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
-    {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
-    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
-    {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
-    {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
-    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
-    {"DeviceBootMode", PERSISTENT | BACKUP},
-    {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"MaxTimeOffroad", PERSISTENT | BACKUP},
-    {"Brightness", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
-    {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"QuietMode", PERSISTENT | BACKUP},
-
-    // MADS params
-    {"Mads", PERSISTENT | BACKUP},
-    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsSteeringMode", PERSISTENT | BACKUP},
-    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
-
-    // Model Manager params
-    {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
-
-    // Neural Network Lateral Control
-    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
-
-    // sunnylink params
-    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
-    {"SunnylinkCache_Roles", PERSISTENT},
-    {"SunnylinkCache_Users", PERSISTENT},
-    {"SunnylinkDongleId", PERSISTENT},
-    {"SunnylinkdPid", PERSISTENT},
-    {"SunnylinkEnabled", PERSISTENT},
-
-    // Backup Manager params
-    {"BackupManager_CreateBackup", PERSISTENT},
-    {"BackupManager_RestoreVersion", PERSISTENT},
-
-    // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
-
-    {"DynamicExperimentalControl", PERSISTENT},
-    {"BlindSpot", PERSISTENT | BACKUP},
-
-    // model panel params
-    {"LagdToggle", PERSISTENT | BACKUP},
-
-    // mapd
-    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"MapdVersion", PERSISTENT},
-    {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
-    {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START},  // mapd database update happens with device ON, reset on boot
-    {"OSMDownloadBounds", PERSISTENT},
-    {"OsmDownloadedDate", PERSISTENT},
-    {"OSMDownloadLocations", PERSISTENT},
-    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
-    {"OsmLocal", PERSISTENT},
-    {"OsmLocationName", PERSISTENT},
-    {"OsmLocationTitle", PERSISTENT},
-    {"OsmLocationUrl", PERSISTENT},
-    {"OsmStateName", PERSISTENT},
-    {"OsmStateTitle", PERSISTENT},
-    {"OsmWayTest", PERSISTENT},
-    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
-};

common/params_pyx.pyx

@@ -11,7 +11,6 @@ cdef extern from "common/params.h":
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
-    BACKUP
     ALL
 
   cdef cppclass c_Params "Params":
@@ -26,7 +25,7 @@ cdef extern from "common/params.h":
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
-    vector[string] allKeys(ParamKeyType)
+    vector[string] allKeys()
 
 
 def ensure_bytes(v):
@@ -37,16 +36,11 @@ class UnknownKeyName(Exception):
 
 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
@@ -120,5 +114,5 @@ cdef class Params:
     cdef string key_bytes = ensure_bytes(key)
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
-  def all_keys(self, type=ParamKeyType.ALL):
+  def all_keys(self):
-    return self.p.allKeys(type)
+    return self.p.allKeys()

common/pid.py

@@ -1,6 +1,9 @@
 import numpy as np
 from numbers import Number
 
+from openpilot.common.numpy_fast import clip, interp
+
+
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
@@ -25,15 +28,15 @@ class PIDController:
 
   @property
   def k_p(self):
-    return np.interp(self.speed, self._k_p[0], self._k_p[1])
+    return interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return np.interp(self.speed, self._k_i[0], self._k_i[1])
+    return interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return np.interp(self.speed, self._k_d[0], self._k_d[1])
+    return interp(self.speed, self._k_d[0], self._k_d[1])
 
   @property
   def error_integral(self):
@@ -56,15 +59,17 @@ class PIDController:
     if override:
       self.i -= self.i_unwind_rate * float(np.sign(self.i))
     else:
-      if not freeze_integrator:
+      i = self.i + error * self.k_i * self.i_rate
-        self.i = self.i + error * self.k_i * self.i_rate
+      control = self.p + i + self.d + self.f
 
-        # Clip i to prevent exceeding control limits
+      # Update when changing i will move the control away from the limits
-        control_no_i = self.p + self.d + self.f
+      # or when i will move towards the sign of the error
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+         not freeze_integrator:
+        self.i = i
 
     control = self.p + self.i + self.d + self.f
 
-    self.control = np.clip(control, self.neg_limit, self.pos_limit)
+    self.control = clip(control, self.neg_limit, self.pos_limit)
     return self.control