Refactor flag handling in ESCC and introduce sunnyParams

Refactored ESCC flag handling to use sunnyParams for clarity and better structure. Updated related tests and configurations to align with the new sunnyParams structure. Also, added the sunnyParams definition to car.capnp.
Update Hyundai carcontroller for ESCC and adjust SP flags
2026-08-08 21:35:43 +08:00 · 2024-11-10 21:26:16 +01:00 · 2024-11-10 16:48:49 +01:00 · 2024-11-10 15:37:43 +01:00 · 2024-11-10 15:19:26 +01:00 · 2024-11-08 17:45:31 +01:00
91 changed files with 724 additions and 1039 deletions
@@ -24,7 +24,7 @@ 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:
@@ -37,17 +37,17 @@ jobs:
    # Welcome comment
    - name: "First timers PR"
      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
      with:
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        pr-message: |
            <!-- _(run_id **${{ github.run_id }}**)_ -->
            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
            * Before marking as "ready for review", ensure:
              * the goal is clearly stated in the description
              * all the tests are passing
-              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
              * include a route or your device' dongle ID if relevant
-
+      
@@ -13,7 +13,7 @@ jobs:
  badges:
    name: create badges
    runs-on: ubuntu-latest
-    if: github.repository == '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
@@ -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 }}

@@ -12,10 +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: sunnypilot/sunnypilot/.github/workflows/tools_tests.yaml@master
+    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
@@ -34,13 +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

@@ -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:
@@ -1,7 +1,7 @@
 name: release
 on:
  schedule:
-    - cron: '0 9 * * *'
+    - cron: '0 10 * * *'
  workflow_dispatch:

 jobs:
@@ -13,7 +13,7 @@ jobs:
    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
@@ -11,7 +11,7 @@ jobs:
    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:
@@ -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 }}
@@ -33,7 +31,6 @@ env:

 jobs:
  build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                   ((github.event_name != 'pull_request') ||
@@ -55,7 +52,7 @@ jobs:
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      timeout-minutes: 3
      run: release/check-submodules.sh
    - name: Build openpilot and run checks
@@ -104,32 +101,27 @@ jobs:
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

  build_mac:
-    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: macos-latest
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
+    - run: git lfs pull
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
        # package install has DeprecationWarnings
        PYTHONWARNINGS: default
-    - run: git lfs pull
    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
+      uses: 'actions/cache@v4'
      with:
        path: /tmp/scons_cache
-        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(nproc)

@@ -181,19 +173,14 @@ jobs:
    - name: Build openpilot
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Setup cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/comma_download_cache
-        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: 15
      run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        $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:
@@ -223,7 +210,7 @@ jobs:
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 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 && \
@@ -264,7 +251,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix:
-        job: [0, 1, 2, 3]
+        job: [0, 1]
    steps:
    - uses: actions/checkout@v4
      with:
@@ -279,12 +266,12 @@ jobs:
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: 20
      run: |
-        ${{ env.RUN }} "FILEREADER_CACHE=1 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
@@ -397,5 +384,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: ${{ env.REPORT_NAME }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -20,18 +20,6 @@ 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 1 ]; then
-          echo -e "\033[31m"
-          echo "##################################################"
-          echo "    Retries not allowed! Fix the flaky test!      "
-          echo "##################################################"
-          echo -e "\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
@@ -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 }}
@@ -4,7 +4,6 @@ on:
  push:
    branches:
      - master
-      - master-new
  pull_request:
  workflow_call:
    inputs:
@@ -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 }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
    name: preview
    runs-on: ubuntu-latest
    timeout-minutes: 20
@@ -60,13 +58,13 @@ jobs:
      - 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
@@ -86,7 +84,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device settings_software settings_toggles settings_developer 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"
+          scenes="homescreen settings_device settings_toggles settings_developer 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=""
@@ -108,13 +106,13 @@ jobs:
              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> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${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/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> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${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/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
              DIFF="${DIFF}</tr>"

              DIFF="${DIFF}</table>"
@@ -127,7 +125,7 @@ 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
@@ -76,7 +76,6 @@ selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl

 *.bz2
-*.zst

 build/

@@ -66,7 +66,7 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
-time ${cmd}
+${cmd}
 END"""

    sh script: ssh_cmd, label: step_label
@@ -193,19 +193,19 @@ node {
    parallel (
      // tici tests
      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tici-needs-can", [], [
          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
          step("build openpilot", "cd system/manager && ./build.py"),
          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("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"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
@@ -221,12 +221,12 @@ node {
      'camerad': {
        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
@@ -242,7 +242,7 @@ node {
      },
      'replay': {
        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/"]]),
          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
        ])
      },
@@ -251,7 +251,7 @@ node {
          step("build openpilot", "cd system/manager && ./build.py"),
          step("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"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
        ])
@@ -4,12 +4,8 @@ Version 0.9.8 (2024-XX-XX)
  * Trained in brand new ML simulator
  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler 
+  * Reduced false positives related to passengers 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
-* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune

 Version 0.9.7 (2024-06-13)
@@ -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)
@@ -63,13 +63,14 @@ class TestSubMaster:
  def test_update_timeout(self):
    sock = random_sock()
    sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
-    start_time = time.monotonic()
-    sm.update(timeout)
-    t = time.monotonic() - start_time
-    assert t >= timeout/1000.
-    assert t < 3
-    assert not any(sm.updated.values())
+    for _ in range(5):
+      timeout = random.randrange(1000, 5000)
+      start_time = time.monotonic()
+      sm.update(timeout)
+      t = time.monotonic() - start_time
+      assert t >= timeout/1000.
+      assert t < 5
+      assert not any(sm.updated.values())

  def test_avg_frequency_checks(self):
    for poll in (True, False):
@@ -36,16 +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
@@ -59,13 +59,15 @@ class PIDController:
    if override:
      self.i -= self.i_unwind_rate * float(np.sign(self.i))
    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
+      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
-        control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Update when changing i will move the control away from the limits
+      # or when i will move towards the sign of the error
+      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+          (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

@@ -30,21 +30,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
@@ -1,9 +1,8 @@
 # openpilot glossary

-* **onroad**: openpilot's system state while ignition is on
-* **offroad**: openpilot's system state while ignition is off
-* **route**: a route is a recording of an onroad session
+* **route**:
 * **segment**: routes are split into one minute chunks called segments.
-* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
-* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
+* **panda**: this is . See the repo.
+* **onroad**:
+* **offroad**:
+* **comma 3X**:
@@ -11,9 +11,6 @@ On the comma three, the serial console is exposed through a UART-to-USB chip, an

 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.

-  * Username: `comma`
-  * Password: `comma`
-
 ## SSH

 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
@@ -18,12 +18,10 @@ nav:
  - How-to:
    - Turn the speed blue: how-to/turn-the-speed-blue.md
    - Connect to a comma 3/3X: how-to/connect-to-comma.md
-    # - Make your first pull request: how-to/make-first-pr.md
    #- Replay a drive: how-to/replay-a-drive.md
  - Concepts:
    - Logs: concepts/logs.md
    - Safety: concepts/safety.md
-    - Glossary: concepts/glossary.md
  - Car Porting:
    - What is a car port?: car-porting/what-is-a-car-port.md
    - Porting a car brand: car-porting/brand-port.md
@@ -1,12 +1,7 @@
 #!/usr/bin/env bash

 while read hash submodule ref; do
-  if [ "$submodule" = "tinygrad_repo" ]; then
-    echo "Skipping $submodule"
-    continue
-  fi
-
-  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule fetch --depth 4000 origin master
  git -C $submodule branch -r --contains $hash | grep "origin/master"
  if [ "$?" -eq 0 ]; then
    echo "$submodule ok"
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

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

 function run() {
@@ -4,7 +4,6 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
-from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -23,8 +22,7 @@ from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source_zst, openpilotci_source, internal_source, \
-                                          internal_source_zst, comma_api_source, auto_source
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
 from openpilot.tools.lib.route import SegmentName

 from panda.tests.libpanda import libpanda_py
@@ -128,9 +126,7 @@ class TestCarModelBase(unittest.TestCase):
      segment_range = f"{cls.test_route.route}/{seg}"

      try:
-        source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
-                                              [openpilotci_source_zst, openpilotci_source, comma_api_source])
-        lr = LogReader(segment_range, source=source)
+        lr = LogReader(segment_range)
        return cls.get_testing_data_from_logreader(lr)
      except (LogsUnavailable, AssertionError):
        pass
@@ -209,7 +209,7 @@ class Controls:
      self.update()
      CC, lac_log = self.state_control()
      self.publish(CC, lac_log)
-      rk.monitor_time()
+      rk.keep_time()

 def main():
  config_realtime_process(4, Priority.CTRL_HIGH)
@@ -139,6 +139,7 @@ def main():
  pm = PubMaster(["driverStateV2"])

  calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  # last = 0

  while True:
    buf = vipc_client.recv()
@@ -154,6 +155,8 @@ def main():
    t2 = time.perf_counter()

    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
+    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
+    # last = t1


 if __name__ == "__main__":
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c829d824ebc73d15da82516592c07d9784369ccbf710698e919e06a702e70924
-size 50320138
+oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
+size 50309976
@@ -306,16 +306,6 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
    LOGW("reading hwmon took %lfms", read_time);
  }

-  // fall back to panda's voltage and current measurement
-  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
-    auto health_opt = panda->get_state();
-    if (health_opt) {
-      health_t health = *health_opt;
-      ps.setVoltage(health.voltage_pkt);
-      ps.setCurrent(health.current_pkt);
-    }
-  }
-
  uint16_t fan_speed_rpm = panda->get_fan_speed();
  ps.setFanSpeedRpm(fan_speed_rpm);

@@ -6,7 +6,6 @@ import capnp
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
-from opendbc.car.ford.values import CAR as FORD, FordFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -271,8 +270,6 @@ def migrate_pandaStates(msgs):
    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
  }
-  # TODO: get new Ford route
-  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}

  # Migrate safety param base on carParams
  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
@@ -58,18 +58,10 @@ def generate_report(proposed, master, tmp, commit):
                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                    ], "modelV2")
-  DriverStateV2_Plots = zl([
-                     (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
-                     (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
-                     (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
-                     (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
-                     (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
-                     (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
-                    ], "driverStateV2")

  return [plot(map(v[0], get_event(proposed, event)), \
               map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
-               for v,event in ([*ModelV2_Plots] + [*DriverStateV2_Plots])]
+               for v,event in [*ModelV2_Plots]]

 def create_table(title, files, link, open_table=False):
  if not files:
@@ -1 +1 @@
-dd0a40182707975c94a40d19198cd60c88735199
+992ac80ef848afb85562ca24b1c5a3d410aacd05
@@ -1,5 +1,4 @@
 import copy
-import os
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
 from parameterized import parameterized
@@ -15,15 +14,13 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']

 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))

 class TestFuzzProcesses:

  # TODO: make this faster and increase examples
  @parameterized.expand(TEST_CASES)
  @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
-            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
  def test_fuzz_process(self, proc_name, cfg, data):
    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
@@ -56,7 +56,7 @@ segments = [
  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
  ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
+  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
@@ -193,10 +193,6 @@ if __name__ == "__main__":
        if cfg.proc_name not in tested_procs:
          continue

-        # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
-          continue
-
        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
        if args.update_refs:  # reference logs will not exist if routes were just regenerated
          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
@@ -86,7 +86,7 @@ safe_checkout() {
  rsync -a --delete $SOURCE_DIR $TEST_DIR
 }

-unsafe_checkout() {( set -e
+unsafe_checkout() {
  # checkout directly in test dir, leave old build products

  cd $TEST_DIR
@@ -105,7 +105,7 @@ unsafe_checkout() {( set -e

  git lfs pull
  (ulimit -n 65535 && git lfs prune)
-)}
+}

 export GIT_PACK_THREADS=8

@@ -115,13 +115,8 @@ if [ ! -d "$SOURCE_DIR" ]; then
 fi

 if [ ! -z "$UNSAFE" ]; then
-  echo "trying unsafe checkout"
-  set +e
+  echo "doing unsafe checkout"
  unsafe_checkout
-  if [[ "$?" -ne 0 ]]; then
-    safe_checkout
-  fi
-  set -e
 else
  echo "doing safe checkout"
  safe_checkout
@@ -10,8 +10,8 @@ import time
 import numpy as np
 import zstandard as zstd
 from collections import Counter, defaultdict
+from functools import cached_property
 from pathlib import Path
-from tabulate import tabulate

 from cereal import car, log
 import cereal.messaging as messaging
@@ -33,9 +33,6 @@ CPU usage budget
  should not exceed MAX_TOTAL_CPU
 """

-TEST_DURATION = 25
-LOG_OFFSET = 8
-
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
  # Baseline CPU usage by process
@@ -52,28 +49,28 @@ PROCS = {
  "selfdrive.controls.radard": 2.0,
  "selfdrive.modeld.modeld": 17.0,
  "selfdrive.modeld.dmonitoringmodeld": 11.0,
-  "system.hardware.hardwared": 4.0,
+  "system.hardware.hardwared": 3.87,
  "selfdrive.locationd.calibrationd": 2.0,
  "selfdrive.locationd.torqued": 5.0,
  "selfdrive.locationd.locationd": 25.0,
  "selfdrive.ui.soundd": 3.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 2.0,
-  "system.logmessaged": 1.0,
+  "./proclogd": 1.54,
+  "system.logmessaged": 0.2,
  "system.tombstoned": 0,
-  "./logcatd": 1.0,
+  "./logcatd": 0,
  "system.micd": 5.0,
  "system.timed": 0,
  "selfdrive.pandad.pandad": 0,
-  "system.statsd": 1.0,
-  "system.loggerd.uploader": 15.0,
-  "system.loggerd.deleter": 1.0,
+  "system.statsd": 0.4,
+  "system.loggerd.uploader": (0.5, 15.0),
+  "system.loggerd.deleter": 0.1,
 }

 PROCS.update({
  "tici": {
    "./pandad": 4.0,
-    "./ubloxd": 1.0,
+    "./ubloxd": 0.02,
    "system.ubloxd.pigeond": 6.0,
  },
  "tizi": {
@@ -101,13 +98,6 @@ TIMINGS = {
  "wideRoadCameraState": [1.5, 0.35],
 }

-LOGS_SIZE_RATE = {
-  "qlog": 0.0083,
-  "rlog": 0.1528,
-  "qcamera.ts": 0.03828,
-}
-LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
-

 def cputime_total(ct):
  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -134,7 +124,7 @@ class TestOnroad:
    if os.path.exists(Paths.log_root()):
      shutil.rmtree(Paths.log_root())

-    # start manager and run openpilot for TEST_DURATION
+    # start manager and run openpilot for a minute
    proc = None
    try:
      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
@@ -145,24 +135,26 @@ class TestOnroad:
        while sm.recv_frame['carState'] < 0:
          sm.update(1000)

+      # make sure we get at least two full segments
      route = None
      cls.segments = []
      with Timeout(300, "timed out waiting for logs"):
        while route is None:
          route = params.get("CurrentRoute", encoding="utf-8")
-          time.sleep(0.01)
+          time.sleep(0.1)

        # test car params caching
        params.put("CarParamsCache", car.CarParams().to_bytes())

-        while len(cls.segments) < 1:
+        while len(cls.segments) < 3:
          segs = set()
          if Path(Paths.log_root()).exists():
            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
          cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
-          time.sleep(0.01)
+          time.sleep(2)

-      time.sleep(TEST_DURATION)
+      # chop off last, incomplete segment
+      cls.segments = cls.segments[:-1]

    finally:
      cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
@@ -174,8 +166,9 @@ class TestOnroad:

    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]

-    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
-    cls.log_path = cls.segments[0]
+    # use the second segment by default as it's the first full segment
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
+    cls.log_path = cls.segments[1]

    cls.log_sizes = {}
    for f in cls.log_path.iterdir():
@@ -185,13 +178,16 @@ class TestOnroad:
        with open(f, 'rb') as ff:
          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6

-    cls.msgs = defaultdict(list)
-    for m in cls.lr:
-      cls.msgs[m.which()].append(m)

+  @cached_property
+  def service_msgs(self):
+    msgs = defaultdict(list)
+    for m in self.lr:
+      msgs[m.which()].append(m)
+    return msgs

  def test_service_frequencies(self, subtests):
-    for s, msgs in self.msgs.items():
+    for s, msgs in self.service_msgs.items():
      if s in ('initData', 'sentinel'):
        continue

@@ -200,10 +196,10 @@ class TestOnroad:
        continue

      with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)

  def test_cloudlog_size(self):
-    msgs = self.msgs['logMessage']
+    msgs = [m for m in self.lr if m.which() == 'logMessage']

    total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
    assert total_size < 3.5e5
@@ -214,10 +210,16 @@ class TestOnroad:

  def test_log_sizes(self):
    for f, sz in self.log_sizes.items():
-      rate = LOGS_SIZE_RATE[f.name]
-      minn = rate * TEST_DURATION * 0.8
-      maxx = rate * TEST_DURATION * 1.2
-      assert minn < sz <  maxx
+      if f.name == "qcamera.ts":
+        assert 2.15 < sz < 2.6
+      elif f.name == "qlog":
+        assert 0.4 < sz < 0.55
+      elif f.name == "rlog":
+        assert 5 < sz < 50
+      elif f.name.endswith('.hevc'):
+        assert 70 < sz < 80
+      else:
+        raise NotImplementedError

  def test_ui_timings(self):
    result = "\n"
@@ -225,7 +227,7 @@ class TestOnroad:
    result += "-------------- UI Draw Timing ------------------\n"
    result += "------------------------------------------------\n"

-    ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
+    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
    result += f"min  {min(ts):.2f}ms\n"
    result += f"max  {max(ts):.2f}ms\n"
    result += f"std  {np.std(ts):.2f}ms\n"
@@ -242,44 +244,53 @@ class TestOnroad:
    assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"

  def test_cpu_usage(self, subtests):
-    print("\n------------------------------------------------")
-    print("------------------ CPU Usage -------------------")
-    print("------------------------------------------------")
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "------------------ CPU Usage -------------------\n"
+    result += "------------------------------------------------\n"

    plogs_by_proc = defaultdict(list)
-    for pl in self.msgs['procLog']:
+    for pl in self.service_msgs['procLog']:
      for x in pl.procLog.procs:
        if len(x.cmdline) > 0:
          n = list(x.cmdline)[0]
          plogs_by_proc[n].append(x)
+    print(plogs_by_proc.keys())

    cpu_ok = True
-    dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
-    header = ['process', 'usage', 'expected', 'max allowed', 'test result']
-    rows = []
-    for proc_name, expected in PROCS.items():
+    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
+    for proc_name, expected_cpu in PROCS.items():

-      error = ""
-      usage = 0.
+      err = ""
+      exp = "???"
+      cpu_usage = 0.
      x = plogs_by_proc[proc_name]
      if len(x) > 2:
        cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-        usage = cpu_time / dt * 100.
+        cpu_usage = cpu_time / dt * 100.

-        max_allowed = max(expected * 1.8, expected + 5.0)
-        if usage > max_allowed:
-          error = "❌ USING MORE CPU THAN EXPECTED ❌"
-          cpu_ok = False
+        if isinstance(expected_cpu, tuple):
+          exp = str(expected_cpu)
+          minn, maxx = expected_cpu
+        else:
+          exp = f"{expected_cpu:5.2f}"
+          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
+          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)

+        if cpu_usage > maxx:
+          err = "using more CPU than expected"
+        elif cpu_usage < minn:
+          err = "using less CPU than expected"
      else:
-        error = "❌ NO METRICS FOUND ❌"
-        cpu_ok = False
+        err = "NO METRICS FOUND"

-      rows.append([proc_name, usage, expected, max_allowed, error or "✅"])
-    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
+      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
+      if len(err) > 0:
+        cpu_ok = False
+    result += "------------------------------------------------\n"

    # Ensure there's no missing procs
-    all_procs = {p.name for p in self.msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
+    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
    for p in all_procs:
      with subtests.test(proc=p):
        assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@@ -288,15 +299,16 @@ class TestOnroad:
    procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
    with subtests.test(name="total CPU"):
      assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
-    print("------------------------------------------------")
-    print(f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left")
-    print("------------------------------------------------")
+    result +=  "------------------------------------------------\n"
+    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
+    result +=  "------------------------------------------------\n"
+
+    print(result)

    assert cpu_ok

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

    # check for big leaks. note that memory usage is
@@ -312,9 +324,7 @@ class TestOnroad:
    result += "-------------- ImgProc Timing ------------------\n"
    result += "------------------------------------------------\n"

-    ts = []
-    for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']:
-      ts.extend(getattr(m, s).processingTime for m in self.msgs[s])
+    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
    assert min(ts) < 0.025, f"high execution time: {min(ts)}"
    result += f"execution time: min  {min(ts):.5f}s\n"
    result += f"execution time: max  {max(ts):.5f}s\n"
@@ -347,7 +357,7 @@ class TestOnroad:

    cfgs = [("longitudinalPlan", 0.05, 0.05),]
    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -367,7 +377,7 @@ class TestOnroad:
      ("driverStateV2", 0.050, 0.026),
    ]
    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -378,32 +388,33 @@ class TestOnroad:

  def test_timings(self):
    passed = True
-    print("\n------------------------------------------------")
-    print("----------------- Service Timings --------------")
-    print("------------------------------------------------")
-
-    header = ['service', 'max', 'min', 'mean', 'expected mean', 'rsd', 'max allowed rsd', 'test result']
-    rows = []
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "----------------- Service Timings --------------\n"
+    result += "------------------------------------------------\n"
    for s, (maxmin, rsd) in TIMINGS.items():
-      offset = int(SERVICE_LIST[s].frequency * LOG_OFFSET)
-      msgs = [m.logMonoTime for m in self.msgs[s][offset:]]
+      msgs = [m.logMonoTime for m in self.service_msgs[s]]
      if not len(msgs):
        raise Exception(f"missing {s}")

      ts = np.diff(msgs) / 1e9
      dt = 1 / SERVICE_LIST[s].frequency

-      errors = []
-      if not np.allclose(np.mean(ts), dt, rtol=0.03, atol=0):
-        errors.append("❌ FAILED MEAN TIMING CHECK ❌")
-      if not np.allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, atol=0):
-        errors.append("❌ FAILED MAX/MIN TIMING CHECK ❌")
-      if (np.std(ts)/dt) > rsd:
-        errors.append("❌ FAILED RSD TIMING CHECK ❌")
-      passed = not errors and passed
-      rows.append([s, *(np.array([np.max(ts), np.min(ts), np.mean(ts), dt])*1e3), np.std(ts)/dt, rsd, "\n".join(errors) or "✅"])
+      try:
+        np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
+        np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
+      except Exception as e:
+        result += str(e) + "\n"
+        passed = False

-    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
+      if np.std(ts) / dt > rsd:
+        result += f"{s} - failed RSD timing check\n"
+        passed = False
+
+      result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
+      result += f"{''.ljust(40)}  {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
+    result += "="*67
+    print(result)
    assert passed

  @release_only
@@ -419,12 +430,11 @@ class TestOnroad:

  def test_engagable(self):
    no_entries = Counter()
-    for m in self.msgs['onroadEvents']:
+    for m in self.service_msgs['onroadEvents']:
      for evt in m.onroadEvents:
        if evt.noEntry:
          no_entries[evt.name] += 1

-    offset = int(SERVICE_LIST['selfdriveState'].frequency * LOG_OFFSET)
-    eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
+    eng = [m.selfdriveState.engageable for m in self.service_msgs['selfdriveState']]
    assert all(eng), \
           f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
@@ -92,7 +92,7 @@ if GetOption('extras') and arch != "Darwin":
    ("openpilot", release),
    ("openpilot_test", f"{release}-staging"),
    ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "nightly-dev"),
+    ("openpilot_internal", "master"),
  ]

  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
@@ -110,5 +110,3 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
-
-SConscript(['raylib/SConscript'])
@@ -3,7 +3,6 @@
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
-#include "common/util.h"

 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  // SSH keys
@@ -25,32 +24,13 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  addItem(longManeuverToggle);

  // Joystick and longitudinal maneuvers should be hidden on release branches
-  is_release = params.getBool("IsReleaseBranch");
+  // also the toggles should be not available to change in onroad state
+  const bool is_release = params.getBool("IsReleaseBranch");
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<ParamControl *>()) {
+      btn->setVisible(!is_release);
+      btn->setEnabled(offroad);
+    }
+  });

-  // Toggles should be not available to change in onroad state
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
-}
-
-void DeveloperPanel::updateToggles(bool _offroad) {
-  for (auto btn : findChildren<ParamControl *>()) {
-    btn->setVisible(!is_release);
-    btn->setEnabled(_offroad);
-  }
-
-  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
-  } else {
-    longManeuverToggle->setEnabled(false);
-  }
-
-  offroad = _offroad;
-}
-
-void DeveloperPanel::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
 }
@@ -6,15 +6,9 @@ class DeveloperPanel : public ListWidget {
  Q_OBJECT
 public:
  explicit DeveloperPanel(SettingsWindow *parent);
-  void showEvent(QShowEvent *event) override;

 private:
  Params params;
  ParamControl* joystickToggle;
  ParamControl* longManeuverToggle;
-  bool is_release;
-  bool offroad;
-
-private slots:
-  void updateToggles(bool _offroad);
 };
@@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
  connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
    auto current = params.get("GitBranch");
    QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
      auto i = branches.indexOf(b);
      if (i >= 0) {
        branches.removeAt(i);
@@ -25,7 +25,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];

  painter.save();

@@ -56,7 +55,7 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
    const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
    if (lead_data.getStatus()) {
      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &lead_vertices[i]);
+      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
    }
  }
 }
@@ -88,7 +87,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
  }
  max_idx = get_path_length_idx(model_position, max_distance);
-  mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
+  mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
@@ -29,7 +29,6 @@ private:
  bool prev_allow_throttle = true;
  float lane_line_probs[4] = {};
  float road_edge_stds[2] = {};
-  float path_offset_z = 1.22f;
  QPolygonF track_vertices;
  QPolygonF lane_line_vertices[4] = {};
  QPolygonF road_edge_vertices[2] = {};
@@ -408,7 +408,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
  std::stringstream buffer;
  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage > 0 && voltage < 7) {
+  if (voltage < 7) {
    addWidget(low_voltage());
  }

@@ -262,7 +262,7 @@ class ListWidget : public QWidget {
    outer_layout.addLayout(&inner_layout);
    inner_layout.setMargin(0);
    inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch(1);
+    outer_layout.addStretch();
  }
  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
@@ -1 +0,0 @@
-_spinner
@@ -1,17 +0,0 @@
-Import('env', 'arch', 'common')
-
-raylib_env = env.Clone()
-raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
-linked_libs = ['raylib', raylib_util_lib, common]
-raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-
-mac_frameworks = []
-if arch == "Darwin":
-  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
-elif arch == 'larch64':
-  linked_libs += []
-else:
-  linked_libs += ['OpenCL', 'dl', 'pthread']
-
-if arch != 'aarch64':
-  raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
@@ -1,69 +0,0 @@
-#include <algorithm>
-#include <cmath>
-#include <iostream>
-
-#include "selfdrive/ui/raylib/util.h"
-#include "third_party/raylib/include/raylib.h"
-
-constexpr int kProgressBarWidth = 1000;
-constexpr int kProgressBarHeight = 20;
-constexpr float kRotationRate = 12.0f;
-constexpr int kMargin = 200;
-constexpr int kTextureSize = 360;
-constexpr int kFontSize = 80;
-
-int main(int argc, char *argv[]) {
-  initApp("spinner", 30);
-
-  // Turn off input buffering for std::cin
-  std::cin.sync_with_stdio(false);
-  std::cin.tie(nullptr);
-
-  Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
-  Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);
-
-  float rotation = 0.0f;
-  std::string userInput;
-
-  while (!WindowShouldClose()) {
-    BeginDrawing();
-    ClearBackground(BLACK);
-
-    rotation = fmod(rotation + kRotationRate, 360.0f);
-    Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
-    const Vector2 spinnerOrigin{kTextureSize / 2.0f, kTextureSize / 2.0f};
-    const Vector2 commaPosition{center.x - kTextureSize / 2.0f, center.y - kTextureSize / 2.0f};
-
-    // Draw rotating spinner and static comma logo
-    DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
-                   {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
-                   spinnerOrigin, rotation, WHITE);
-    DrawTextureV(commaTexture, commaPosition, WHITE);
-
-    // Check for user input
-    if (std::cin.rdbuf()->in_avail() > 0) {
-      std::getline(std::cin, userInput);
-    }
-
-    // Display either a progress bar or user input text based on input
-    if (!userInput.empty()) {
-      float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
-      if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
-        Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
-        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
-
-        int progress = std::clamp(std::stoi(userInput), 0, 100);
-        bar.width *= progress / 100.0f;
-        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
-      } else {
-        Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
-        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
-      }
-    }
-
-    EndDrawing();
-  }
-
-  CloseWindow();
-  return 0;
-}
@@ -1,56 +0,0 @@
-#include "selfdrive/ui/raylib/util.h"
-
-#include <array>
-
-#undef GREEN
-#undef RED
-#undef YELLOW
-#include "common/swaglog.h"
-#include "system/hardware/hw.h"
-
-constexpr std::array<const char *, static_cast<int>(FontWeight::Count)> FONT_FILE_PATHS = {
-    "../../assets/fonts/Inter-Black.ttf",
-    "../../assets/fonts/Inter-Bold.ttf",
-    "../../assets/fonts/Inter-ExtraBold.ttf",
-    "../../assets/fonts/Inter-ExtraLight.ttf",
-    "../../assets/fonts/Inter-Medium.ttf",
-    "../../assets/fonts/Inter-Regular.ttf",
-    "../../assets/fonts/Inter-SemiBold.ttf",
-    "../../assets/fonts/Inter-Thin.ttf",
-};
-
-struct FontManager {
-  FontManager() {
-    for (int i = 0; i < fonts.size(); ++i) {
-      fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
-      SetTextureFilter(fonts[i].texture, TEXTURE_FILTER_TRILINEAR);
-    }
-  }
-
-  ~FontManager() {
-    for (auto &f : fonts) UnloadFont(f);
-  }
-
-  std::array<Font, static_cast<int>(FontWeight::Count)> fonts;
-};
-
-const Font& getFont(FontWeight weight) {
-  static FontManager font_manager;
-  return font_manager.fonts[(int)weight];
-}
-
-Texture2D LoadTextureResized(const char *fileName, int size) {
-  Image img = LoadImage(fileName);
-  ImageResize(&img, size, size);
-  Texture2D texture = LoadTextureFromImage(img);
-  SetTextureFilter(texture, TEXTURE_FILTER_TRILINEAR);
-  return texture;
-}
-
-void initApp(const char *title, int fps) {
-  Hardware::set_display_power(true);
-  Hardware::set_brightness(65);
-  // SetTraceLogLevel(LOG_NONE);
-  InitWindow(0, 0, title);
-  SetTargetFPS(fps);
-}
@@ -1,21 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "third_party/raylib/include/raylib.h"
-
-enum class FontWeight {
-  Normal,
-  Bold,
-  ExtraBold,
-  ExtraLight,
-  Medium,
-  Regular,
-  SemiBold,
-  Thin,
-  Count // To represent the total number of fonts
-};
-
-void initApp(const char *title, int fps);
-const Font& getFont(FontWeight weight = FontWeight::Normal);
-Texture2D LoadTextureResized(const char *fileName, int size);
@@ -45,11 +45,6 @@ def setup_settings_toggles(click, pm: PubMaster):
  click(278, 650)
  time.sleep(UI_DELAY)

-def setup_settings_software(click, pm: PubMaster):
-  setup_settings_device(click, pm)
-  click(278, 800)
-  time.sleep(UI_DELAY)
-
 def setup_settings_developer(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 960)
@@ -122,8 +117,11 @@ def setup_body(click, pm: PubMaster):

 def setup_keyboard(click, pm: PubMaster):
  setup_settings_device(click, pm)
-  click(250, 965)
-  click(1930, 228)
+  click(250, 575)
+  click(2020, 218)
+  click(1830, 80)
+  click(2035, 808)
+  click(90, 480)

 def setup_driver_camera(click, pm: PubMaster):
  setup_settings_device(click, pm)
@@ -182,7 +180,6 @@ CASES = {
  "pair_device": setup_pair_device,
  "settings_device": setup_settings_device,
  "settings_toggles": setup_settings_toggles,
-  "settings_software": setup_settings_software,
  "settings_developer": setup_settings_developer,
  "onroad": setup_onroad,
  "onroad_disengaged": setup_onroad_disengaged,
@@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation>وضع تصحيح أخطاء عصا التحكم</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation>وضع المناورة الطولية</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -435,11 +435,11 @@
    </message>
    <message>
        <source>Waiting to start</source>
-        <translation>في انتظار البدء</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>System Unresponsive</source>
-        <translation>النظام لا يستجيب</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -631,7 +631,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation>المطور</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation>Modo de depuración de joystick</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation>Modo de maniobra longitudinal</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -615,7 +615,7 @@ Esto puede tardar un minuto.</translation>
    </message>
    <message>
        <source>Developer</source>
-        <translation>Desarrollador</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -117,11 +117,11 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation>조이스틱 디버그 모드</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation>롱컨 기동 모드</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -611,7 +611,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation>개발자</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -145,7 +145,7 @@ void Device::resetInteractiveTimeout(int timeout) {

 void Device::updateBrightness(const UIState &s) {
  float clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor >= 0) {
+  if (s.scene.started && s.scene.light_sensor > 0) {
    clipped_brightness = s.scene.light_sensor;

    // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
@@ -114,7 +114,7 @@ bool CameraBuf::acquire(int expo_time) {
    cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
  } else {
    cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
-    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-9;
+    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6;
  }

  VisionIpcBufExtra extra = {
@@ -78,7 +78,6 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r

 AR0231::AR0231() {
  image_sensor = cereal::FrameData::ImageSensor::AR0231;
-  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  pixel_size_mm = 0.003;
  data_word = true;
  frame_width = 1928;
@@ -145,19 +144,16 @@ AR0231::AR0231() {
    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
  };
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  for (int i = 0; i < 884*2; i++) {
-    vignetting_lut.push_back(0xff);
-  }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
 }

 void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
@@ -22,7 +22,6 @@ const uint32_t os04c10_analog_gains_reg[] = {

 OS04C10::OS04C10() {
  image_sensor = cereal::FrameData::ImageSensor::OS04C10;
-  bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
  pixel_size_mm = 0.004;
  data_word = false;

@@ -71,7 +70,7 @@ OS04C10::OS04C10() {
  };
  for (int i = 0; i < 65; i++) {
    float fx = i / 64.0;
-    gamma_lut_rgb.push_back((uint32_t)((10*fx)/(1+9*fx)*1023.0 + 0.5));
+    gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
  }
  prepare_gamma_lut();
  linearization_lut = {
@@ -79,19 +78,16 @@ OS04C10::OS04C10() {
    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff,
    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
  };
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  for (int i = 0; i < 884*2; i++) {
-    vignetting_lut.push_back(0xff);
-  }
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff};
 }

 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
@@ -52,7 +52,11 @@ float3 color_correct(float3 rgb) {
 }

 float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
+  return powr(rgb, 0.7);
+/*float s = log2((float)expo_time);
+  if (s < 6) {s = fmin(12.0 - s, 9.0);}
+  // log function adaptive to number of bits
+  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/
 }

 #endif
@@ -25,7 +25,6 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35

 OX03C10::OX03C10() {
  image_sensor = cereal::FrameData::ImageSensor::OX03C10;
-  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  pixel_size_mm = 0.003;
  data_word = false;
  frame_width = 1928;
@@ -81,9 +80,9 @@ OX03C10::OX03C10() {
    0x00200000, 0x00200000, 0x00200000, 0x00200000,
    0x00404080, 0x00404080, 0x00404080, 0x00404080,
    0x00804100, 0x00804100, 0x00804100, 0x00804100,
-    0x02014402, 0x02014402, 0x02014402, 0x02014402,
-    0x0402c804, 0x0402c804, 0x0402c804, 0x0402c804,
-    0x0805d00a, 0x0805d00a, 0x0805d00a, 0x0805d00a,
+    0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402,
+    0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070,
+    0x06044804, 0x06044804, 0x06044804, 0x06044804,
    0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
@@ -91,7 +90,7 @@ OX03C10::OX03C10() {
  for (int i = 0; i < 252; i++) {
    linearization_lut.push_back(0x0);
  }
-  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x1fff23ff, 0x27ff3fff};
+  linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff};
  for (int i = 0; i < 884*2; i++) {
    vignetting_lut.push_back(0xff);
  }
@@ -61,7 +61,7 @@ public:
  std::vector<i2c_random_wr_payload> init_reg_array;

  uint32_t bits_per_pixel;
-  uint32_t bayer_pattern;
+  uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
  uint32_t mipi_format;
  uint32_t mclk_frequency;
  uint32_t frame_data_type;
@@ -9,7 +9,7 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.system.manager.process_config import managed_processes

-TEST_TIMESPAN = 10
+TEST_TIMESPAN = 30
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
@@ -21,40 +21,39 @@ CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
@flaky(max_runs=3)
@pytest.mark.tici
 class TestCamerad:
-  @classmethod
-  def setup_class(cls):
+  def setup_method(self):
    # run camerad and record logs
    managed_processes['camerad'].start()
    time.sleep(3)
    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}

-    cls.logs = defaultdict(list)
+    self.logs = defaultdict(list)
    start_time = time.monotonic()
    while time.monotonic()- start_time < TEST_TIMESPAN:
      for cam, s in socks.items():
-        cls.logs[cam] += messaging.drain_sock(s)
+        self.logs[cam] += messaging.drain_sock(s)
      time.sleep(0.2)
    managed_processes['camerad'].stop()

-    cls.log_by_frame_id = defaultdict(list)
-    cls.sensor_type = None
-    for cam, msgs in cls.logs.items():
-      if cls.sensor_type is None:
-        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    self.log_by_frame_id = defaultdict(list)
+    self.sensor_type = None
+    for cam, msgs in self.logs.items():
+      if self.sensor_type is None:
+        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"

      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"

      for m in msgs:
-        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)

    # strip beginning and end
    for _ in range(3):
-      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
-      del cls.log_by_frame_id[mn]
-      del cls.log_by_frame_id[mx]
+      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
+      del self.log_by_frame_id[mn]
+      del self.log_by_frame_id[mx]

  def test_frame_skips(self):
    skips = {}
@@ -148,7 +148,8 @@ def hw_state_thread(end_event, hw_queue):
        except queue.Full:
          pass

-        if not modem_configured and HARDWARE.get_modem_version() is not None:
+        # TODO: remove this once the config is in AGNOS
+        if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0:
          cloudlog.warning("configuring modem")
          HARDWARE.configure_modem()
          modem_configured = True
@@ -315,7 +316,7 @@ def hardware_thread(end_event, hw_queue) -> None:
    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)

    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI and HARDWARE.get_device_type() == "tici":
+    if TICI:
      if not os.path.isfile("/persist/comma/living-in-the-moment"):
        if not Path("/data/media").is_mount():
          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
@@ -467,9 +467,8 @@ class Tici(HardwareBase):
    cmds = []
    if manufacturer == 'Cavli Inc.':
      cmds += [
-        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
-        'AT$QCSIMSLEEP=0',  # disable SIM sleep
-        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
+        # use sim slot
+        'AT^SIMSWAP=1',

        # ethernet config
        'AT$QCPCFG=usbNet,0',
@@ -61,7 +61,7 @@ class TestEncoder:
    time.sleep(1.0)
    managed_processes['camerad'].start()

-    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))
+    num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15)))

    # wait for loggerd to make the dir for first segment
    route_prefix_path = None
@@ -73,7 +73,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    time.sleep(5)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@@ -91,7 +91,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    time.sleep(5)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@@ -110,7 +110,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    time.sleep(5)
    self.join_thread()

    exp_order = self.gen_order([self.seg_num], [])
@@ -137,7 +137,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    time.sleep(5)
    self.join_thread()

    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@@ -155,7 +155,7 @@ class TestUploader(UploaderTestCase):
    f_paths = self.gen_files(lock=True, boot=False)

    # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(1)
+    time.sleep(5)
    self.join_thread()

    for f_path in f_paths:
@@ -168,7 +168,7 @@ class TestUploader(UploaderTestCase):

    self.start_thread()
    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    time.sleep(5)
    self.join_thread()

    assert len(log_handler.upload_order) == 0, "File uploaded again"
@@ -176,7 +176,7 @@ class TestUploader(UploaderTestCase):
  def test_clear_locks_on_startup(self):
    f_paths = self.gen_files(lock=True, boot=False)
    self.start_thread()
-    time.sleep(0.25)
+    time.sleep(1)
    self.join_thread()

    for f_path in f_paths:
@@ -61,7 +61,7 @@ def and_(*fns):
  return lambda *args: operator.and_(*(fn(*args) for fn in fns))

 procs = [
-  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
+  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid", enabled=not PC),

  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
@@ -71,7 +71,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {

    uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
    uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
-    if (diff > 10*1e6) { // 10ms
+    if (diff > 1*1e6) { // 1ms
      LOGW("time jumped: %lu %lu", cur_offset, offset);
      offset = cur_offset;

@@ -63,6 +63,8 @@ def init(project: SentryProject) -> bool:
                  max_value_length=8192,
                  environment=env)

+  build_metadata = get_build_metadata()
+
  sentry_sdk.set_user({"id": dongle_id})
  sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
  sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
@@ -19,7 +19,7 @@ class TestLogmessaged:
    self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)

    # ensure sockets are connected
-    time.sleep(0.5)
+    time.sleep(1)
    messaging.drain_sock(self.sock)
    messaging.drain_sock(self.error_sock)

@@ -35,7 +35,7 @@ class TestLogmessaged:
    msgs = [f"abc {i}" for i in range(10)]
    for m in msgs:
      cloudlog.error(m)
-    time.sleep(0.5)
+    time.sleep(3)
    m = messaging.drain_sock(self.sock)
    assert len(m) == len(msgs)
    assert len(self._get_log_files()) >= 1
@@ -45,7 +45,7 @@ class TestLogmessaged:
    msg = "a"*3*1024*1024
    for _ in range(n):
      cloudlog.info(msg)
-    time.sleep(0.5)
+    time.sleep(3)

    msgs = messaging.drain_sock(self.sock)
    assert len(msgs) == 0
@@ -51,7 +51,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
    emit static_main_win->updateProgressBar(cur, total, success);
  });
  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    if (type == QtDebugMsg) return;
+    if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
    emit static_main_win->showMessage(msg, 2000);
  });
  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
@@ -1,12 +1,14 @@
 #include "tools/cabana/videowidget.h"

 #include <algorithm>
+#include <utility>

 #include <QAction>
 #include <QActionGroup>
 #include <QMenu>
 #include <QMouseEvent>
 #include <QPainter>
+#include <QStackedLayout>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
 #include <QtConcurrent>
@@ -25,7 +27,9 @@ static const QColor timeline_colors[] = {

 static Replay *getReplay() {
  auto stream = qobject_cast<ReplayStream *>(can);
-  return stream ? stream->getReplay() : nullptr;
+  if (!stream) return nullptr;
+
+  return stream->getReplay();
 }

 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
@@ -140,9 +144,13 @@ QWidget *VideoWidget::createCameraWidget() {
  camera_tab->setAutoHide(true);
  camera_tab->setExpanding(false);

-  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
+  QStackedLayout *stacked = new QStackedLayout();
+  stacked->setStackingMode(QStackedLayout::StackAll);
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
  cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
  cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
+  stacked->addWidget(alert_label = new InfoLabel(this));
+  l->addLayout(stacked);

  l->addWidget(slider = new Slider(w));
  slider->setSingleStep(0);
@@ -157,13 +165,16 @@ QWidget *VideoWidget::createCameraWidget() {
  QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
    if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
  });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, cam_widget, &StreamCameraView::parseQLog, Qt::QueuedConnection);
-  slider->installEventFilter(cam_widget);
+  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
  return w;
 }

 void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
-  static const QString stream_names[] = {"Road camera", "Driver camera", "Wide road camera"};
+  static const QString stream_names[] = {
+    [VISION_STREAM_ROAD] = "Road camera",
+    [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
+    [VISION_STREAM_DRIVER] = "Driver camera"};
+
  for (int i = 0; i < streams.size(); ++i) {
    if (camera_tab->count() <= i) {
      camera_tab->addTab(QString());
@@ -178,9 +189,16 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }

 void VideoWidget::loopPlaybackClicked() {
-  bool is_looping = getReplay()->loop();
-  getReplay()->setLoop(!is_looping);
-  loop_btn->setIcon(!is_looping ? "repeat" : "repeat-1");
+  auto replay = getReplay();
+  if (!replay) return;
+
+  if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
+    replay->removeFlag(REPLAY_FLAG_NO_LOOP);
+    loop_btn->setIcon("repeat");
+  } else {
+    replay->addFlag(REPLAY_FLAG_NO_LOOP);
+    loop_btn->setIcon("repeat-1");
+  }
 }

 void VideoWidget::timeRangeChanged() {
@@ -205,9 +223,7 @@ void VideoWidget::updateState() {
    if (!slider->isSliderDown()) {
      slider->setCurrentSecond(can->currentSec());
    }
-    if (camera_tab->count() == 0) {  //  No streams available
-      cam_widget->update();          // Manually refresh to show alert events
-    }
+    alert_label->showAlert(slider->alertInfo(can->currentSec()));
    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                             formatTime(slider->maximum() / slider->factor)));
  } else {
@@ -223,9 +239,41 @@ void VideoWidget::updatePlayBtnState() {
 // Slider

 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
+  thumbnail_label = new InfoLabel(parent);
  setMouseTracking(true);
 }

+std::optional<Timeline::Entry> Slider::alertInfo(double seconds) {
+  return getReplay()->findAlertAtTime(seconds);
+}
+
+QPixmap Slider::thumbnail(double seconds)  {
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
+  return it != thumbnails.end() ? it.value() : QPixmap();
+}
+
+void Slider::setTimeRange(double min, double max) {
+  assert(min < max);
+  setRange(min * factor, max * factor);
+}
+
+void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
+  std::mutex mutex;
+  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
+    if (e.which == cereal::Event::Which::THUMBNAIL) {
+      capnp::FlatArrayMessageReader reader(e.data);
+      auto thumb = reader.getRoot<cereal::Event>().getThumbnail();
+      auto data = thumb.getThumbnail();
+      if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
+        QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+        std::lock_guard lk(mutex);
+        thumbnails[thumb.getTimestampEof()] = scaled;
+      }
+    }
+  });
+  update();
+}
+
 void Slider::paintEvent(QPaintEvent *ev) {
  QPainter p(this);
  QRect r = rect().adjusted(0, 4, 0, -4);
@@ -240,8 +288,9 @@ void Slider::paintEvent(QPaintEvent *ev) {
    p.fillRect(r, color);
  };

-  if (auto replay = getReplay()) {
-    for (const auto &entry : *replay->getTimeline()) {
+  auto replay = getReplay();
+  if (replay) {
+    for (const auto &entry: *replay->getTimeline()) {
      fillRange(entry.start_time, entry.end_time, timeline_colors[(int)entry.type]);
    }

@@ -270,7 +319,84 @@ void Slider::mousePressEvent(QMouseEvent *e) {
  }
 }

-// StreamCameraView
+void Slider::mouseMoveEvent(QMouseEvent *e) {
+  int pos = std::clamp(e->pos().x(), 0, width());
+  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
+  QPixmap thumb = thumbnail(seconds);
+  if (!thumb.isNull()) {
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
+    int y = -thumb.height() - THUMBNAIL_MARGIN;
+    thumbnail_label->showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
+  } else {
+    thumbnail_label->hide();
+  }
+  QSlider::mouseMoveEvent(e);
+}
+
+bool Slider::event(QEvent *event) {
+  switch (event->type()) {
+    case QEvent::WindowActivate:
+    case QEvent::WindowDeactivate:
+    case QEvent::FocusIn:
+    case QEvent::FocusOut:
+    case QEvent::Leave:
+      thumbnail_label->hide();
+      break;
+    default:
+      break;
+  }
+  return QSlider::event(event);
+}
+
+// InfoLabel
+
+InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
+  setVisible(false);
+}
+
+void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert) {
+  second = sec;
+  pixmap = pm;
+  alert_info = alert;
+  setGeometry(QRect(pt, pm.size()));
+  setVisible(true);
+  update();
+}
+
+void InfoLabel::showAlert(const std::optional<Timeline::Entry> &alert) {
+  alert_info = alert;
+  pixmap = {};
+  setVisible(alert_info.has_value());
+  update();
+}
+
+void InfoLabel::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  if (!pixmap.isNull()) {
+    p.drawPixmap(0, 0, pixmap);
+    p.drawRect(rect());
+    p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
+  }
+  if (alert_info) {
+    QColor color = timeline_colors[int(alert_info->type)];
+    color.setAlphaF(0.5);
+    QString text = QString::fromStdString(alert_info->text1);
+    if (!alert_info->text2.empty()) text += "\n" + QString::fromStdString(alert_info->text2);
+
+    if (!pixmap.isNull()) {
+      QFont font;
+      font.setPixelSize(11);
+      p.setFont(font);
+    }
+    QRect text_rect = rect().adjusted(1, 1, -1, -1);
+    QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+    p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
+    p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+  }
+}

 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
    : CameraWidget(stream_name, stream_type, parent) {
@@ -278,93 +404,15 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str
  fade_animation->setDuration(500);
  fade_animation->setStartValue(0.2f);
  fade_animation->setEndValue(0.7f);
-  fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
-  connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
-}
-
-void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
-  std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
-      auto image_data = thumb_data.getThumbnail();
-      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
-        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
-        std::lock_guard lock(mutex);
-        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
-      }
-    }
-  });
-  update();
 }

 void StreamCameraView::paintGL() {
  CameraWidget::paintGL();

-  QPainter p(this);
-  if (auto alert = getReplay()->findAlertAtTime(can->currentSec())) {
-    drawAlert(p, rect(), *alert);
-  }
-  if (thumbnail_pt_) {
-    drawThumbnail(p);
-  }
  if (can->isPaused()) {
-    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
+    QPainter p(this);
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
    p.setFont(QFont(font().family(), 16, QFont::Bold));
    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
  }
 }
-
-QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
-  QPixmap scaled = thumb.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
-  QPainter p(&scaled);
-  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-  p.drawRect(scaled.rect());
-  if (auto alert = getReplay()->findAlertAtTime(seconds)) {
-    p.setFont(QFont(font().family(), 10));
-    drawAlert(p, scaled.rect(), *alert);
-  }
-  return scaled;
-}
-
-void StreamCameraView::drawThumbnail(QPainter &p) {
-  int pos = std::clamp(thumbnail_pt_->x(), 0, width());
-  auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
-  double seconds = min_sec + pos * (max_sec - min_sec) / width();
-
-  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
-  if (it != thumbnails.end()) {
-    const QPixmap &thumb = it.value();
-    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
-    int y = height() - thumb.height() - THUMBNAIL_MARGIN;
-
-    p.drawPixmap(x, y, thumb);
-    p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-    p.drawText(x, y, thumb.width(), thumb.height() - THUMBNAIL_MARGIN, Qt::AlignHCenter | Qt::AlignBottom, QString::number(seconds));
-  }
-}
-
-void StreamCameraView::drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert) {
-  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
-  QColor color = timeline_colors[int(alert.type)];
-  color.setAlphaF(0.5);
-  QString text = QString::fromStdString(alert.text1);
-  if (!alert.text2.empty()) text += "\n" + QString::fromStdString(alert.text2);
-
-  QRect text_rect = rect.adjusted(1, 1, -1, -1);
-  QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
-  p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
-  p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
-}
-
-bool StreamCameraView::eventFilter(QObject *, QEvent *event) {
-  if (event->type() == QEvent::MouseMove) {
-    thumbnail_pt_ = static_cast<QMouseEvent *>(event)->pos();
-    update();
-  } else if (event->type() == QEvent::Leave) {
-    thumbnail_pt_ = std::nullopt;
-    update();
-  }
-  return false;
-}
@@ -1,5 +1,6 @@
 #pragma once

+#include <map>
 #include <memory>
 #include <optional>
 #include <set>
@@ -17,6 +18,17 @@
 #include "tools/replay/logreader.h"
 #include "tools/cabana/streams/replaystream.h"

+class InfoLabel : public QWidget {
+public:
+  InfoLabel(QWidget *parent);
+  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional<Timeline::Entry> &alert);
+  void showAlert(const std::optional<Timeline::Entry> &alert);
+  void paintEvent(QPaintEvent *event) override;
+  QPixmap pixmap;
+  QString second;
+  std::optional<Timeline::Entry> alert_info;
+};
+
 class Slider : public QSlider {
  Q_OBJECT

@@ -24,30 +36,40 @@ public:
  Slider(QWidget *parent);
  double currentSecond() const { return value() / factor; }
  void setCurrentSecond(double sec) { setValue(sec * factor); }
-  void setTimeRange(double min, double max) { setRange(min * factor, max * factor); }
-  void mousePressEvent(QMouseEvent *e) override;
-  void paintEvent(QPaintEvent *ev) override;
+  void setTimeRange(double min, double max);
+  std::optional<Timeline::Entry> alertInfo(double sec);
+  QPixmap thumbnail(double sec);
+  void parseQLog(std::shared_ptr<LogReader> qlog);
+
  const double factor = 1000.0;
+
+private:
+  void mousePressEvent(QMouseEvent *e) override;
+  void mouseMoveEvent(QMouseEvent *e) override;
+  bool event(QEvent *event) override;
+  void paintEvent(QPaintEvent *ev) override;
+
+  QMap<uint64_t, QPixmap> thumbnails;
+  InfoLabel *thumbnail_label;
 };

 class StreamCameraView : public CameraWidget {
  Q_OBJECT
+  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)

 public:
  StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
  void paintGL() override;
  void showPausedOverlay() { fade_animation->start(); }
-  void parseQLog(std::shared_ptr<LogReader> qlog);
+  float overlayOpacity() const { return overlay_opacity; }
+  void setOverlayOpacity(float opacity) {
+    overlay_opacity = opacity;
+    update();
+  }

 private:
-  QPixmap generateThumbnail(QPixmap thumbnail, double seconds);
-  void drawAlert(QPainter &p, const QRect &rect, const Timeline::Entry &alert);
-  void drawThumbnail(QPainter &p);
-  bool eventFilter(QObject *obj, QEvent *event) override;
-
+  float overlay_opacity;
  QPropertyAnimation *fade_animation;
-  QMap<uint64_t, QPixmap> thumbnails;
-  std::optional<QPoint> thumbnail_pt_;
 };

 class VideoWidget : public QFrame {
@@ -74,6 +96,7 @@ protected:
  ToolButton *loop_btn = nullptr;
  QToolButton *speed_btn = nullptr;
  ToolButton *skip_to_end_btn = nullptr;
+  InfoLabel *alert_label = nullptr;
  Slider *slider = nullptr;
  QTabBar *camera_tab = nullptr;
 };
@@ -24,8 +24,9 @@ function update_uv() {
 if ! command -v "uv" > /dev/null 2>&1; then
  echo "installing uv..."
  curl -LsSf https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.local/bin"
-  PATH="$UV_BIN:$PATH"
+  UV_BIN="$HOME/.cargo/env"
+  ADD_PATH_CMD=". \"$UV_BIN\""
+  eval "$ADD_PATH_CMD"
 fi

 echo "updating uv..."
@@ -31,8 +31,6 @@ def joystickd_thread():
    CC.enabled = sm['selfdriveState'].enabled
    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
-    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
-    CC.hudControl.leadDistanceBars = 2

    actuators = CC.actuators

@@ -12,7 +12,6 @@ def internal_source_available(url=DATA_ENDPOINT):
    hostname = urlparse(url).hostname
    port = urlparse(url).port or 80
    with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
-      s.settimeout(0.5)
      s.connect((hostname, port))
    return True
  except (socket.gaierror, ConnectionRefusedError):
@@ -121,7 +121,6 @@ def report(platform, route, _description, CP, ID, maneuvers):

      buffer = io.BytesIO()
      fig.savefig(buffer, format='webp')
-      plt.close(fig)
      buffer.seek(0)
      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
      builder.append("</details>\n")
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import numpy as np
 from dataclasses import dataclass

 from cereal import messaging, car
@@ -11,11 +10,8 @@ from openpilot.common.swaglog import cloudlog

@dataclass
 class Action:
-  accel_bp: list[float]  # m/s^2
-  time_bp: list[float]   # seconds
-
-  def __post_init__(self):
-    assert len(self.accel_bp) == len(self.time_bp)
+  accel: float      # m/s^2
+  duration: float   # seconds


@dataclass
@@ -45,12 +41,11 @@ class Maneuver:
      return min(max(self.initial_speed - v_ego, -2.), 2.)

    action = self.actions[self._action_index]
-    action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)

    self._action_frames += 1

    # reached duration of action
-    if self._action_frames > (action.time_bp[-1] / DT_MDL):
+    if self._action_frames > (action.duration / DT_MDL):
      # next action
      if self._action_index < len(self.actions) - 1:
        self._action_index += 1
@@ -65,7 +60,7 @@ class Maneuver:
      else:
        self._finished = True

-    return float(action_accel)
+    return action.accel

  @property
  def finished(self):
@@ -79,47 +74,47 @@ class Maneuver:
 MANEUVERS = [
  Maneuver(
    "come to stop",
-    [Action([-0.5], [12])],
+    [Action(-0.5, 12)],
    repeat=2,
    initial_speed=5.,
  ),
  Maneuver(
-    "start from stop",
-    [Action([1.5], [6])],
-    repeat=2,
-    initial_speed=0.,
+   "start from stop",
+   [Action(1.5, 5)],
+   repeat=2,
+   initial_speed=0.,
  ),
  Maneuver(
-    "creep: alternate between +1m/s^2 and -1m/s^2",
-    [
-      Action([1], [3]), Action([-1], [3]),
-      Action([1], [3]), Action([-1], [3]),
-      Action([1], [3]), Action([-1], [3]),
-    ],
-    repeat=2,
-    initial_speed=0.,
+   "creep: alternate between +1m/s^2 and -1m/s^2",
+   [
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
+   ],
+   repeat=2,
+   initial_speed=0.,
  ),
  Maneuver(
    "brake step response: -1m/s^2 from 20mph",
-    [Action([-1], [3])],
+    [Action(-1, 3)],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "brake step response: -4m/s^2 from 20mph",
-    [Action([-4], [3])],
+    [Action(-4, 3)],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "gas step response: +1m/s^2 from 20mph",
-    [Action([1], [3])],
+    [Action(1, 3)],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
  Maneuver(
    "gas step response: +4m/s^2 from 20mph",
-    [Action([4], [3])],
+    [Action(4, 3)],
    repeat=2,
    initial_speed=20. * CV.MPH_TO_MS,
  ),
@@ -10,7 +10,7 @@ else:
  base_libs.append('OpenCL')

 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "timeline.cc", "api.cc"]
+                  "route.cc", "util.cc", "timeline.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
@@ -1,162 +0,0 @@
-
-#include "tools/replay/api.h"
-
-#include <openssl/pem.h>
-#include <openssl/rsa.h>
-#include <openssl/evp.h>
-#include <openssl/sha.h>
-
-#include <cassert>
-#include <chrono>
-#include <iostream>
-
-#include "common/params.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-
-namespace CommaApi2 {
-
-// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
-static const std::string base64url_chars =
-    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-    "abcdefghijklmnopqrstuvwxyz"
-    "0123456789-_";
-
-std::string base64url_encode(const std::string &in) {
-  std::string out;
-  int val = 0, valb = -6;
-  for (unsigned char c : in) {
-    val = (val << 8) + c;
-    valb += 8;
-    while (valb >= 0) {
-      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
-      valb -= 6;
-    }
-  }
-  if (valb > -6) {
-    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
-  }
-
-  return out;
-}
-
-EVP_PKEY *get_rsa_private_key() {
-  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
-  if (!rsa_private) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
-      return nullptr;
-    }
-    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
-    fclose(fp);
-  }
-  return rsa_private.get();
-}
-
-std::string rsa_sign(const std::string &data) {
-  EVP_PKEY *private_key = get_rsa_private_key();
-  if (!private_key) return {};
-
-  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
-  assert(mdctx != nullptr);
-
-  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
-  uint32_t sig_len;
-
-  EVP_SignInit(mdctx, EVP_sha256());
-  EVP_SignUpdate(mdctx, data.data(), data.size());
-  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
-
-  EVP_MD_CTX_free(mdctx);
-
-  assert(ret == 1);
-  assert(sig.size() == sig_len);
-  return std::string(sig.begin(), sig.begin() + sig_len);
-}
-
-std::string create_jwt(const json11::Json &extra, int exp_time) {
-  int now = std::chrono::seconds(std::time(nullptr)).count();
-  std::string dongle_id = Params().get("DongleId");
-
-  // Create header and payload
-  json11::Json header = json11::Json::object{{"alg", "RS256"}};
-  auto payload = json11::Json::object{
-      {"identity", dongle_id},
-      {"iat", now},
-      {"nbf", now},
-      {"exp", now + exp_time},
-  };
-  // Merge extra payload
-  for (const auto &item : extra.object_items()) {
-    payload[item.first] = item.second;
-  }
-
-  // JWT construction
-  std::string jwt = base64url_encode(header.dump()) + '.' +
-                    base64url_encode(json11::Json(payload).dump());
-
-  // Hash and sign
-  std::string hash(SHA256_DIGEST_LENGTH, '\0');
-  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
-  std::string signature = rsa_sign(hash);
-
-  return jwt + "." + base64url_encode(signature);
-}
-
-std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
-  if (use_jwt) {
-    return create_jwt(payloads, expiry);
-  }
-
-  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
-  std::string err;
-  auto json = json11::Json::parse(token_json, err);
-  if (!err.empty()) {
-    std::cerr << "Error parsing auth.json " << err << std::endl;
-    return "";
-  }
-  return json["access_token"].string_value();
-}
-
-std::string httpGet(const std::string &url, long *response_code) {
-  CURL *curl = curl_easy_init();
-  assert(curl);
-
-  std::string readBuffer;
-  const std::string token = CommaApi2::create_token(!Hardware::PC());
-
-  // Set up the lambda for the write callback
-  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
-  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
-    size_t totalSize = size * nmemb;
-    userp->append((char *)contents, totalSize);
-    return totalSize;
-  };
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-
-  // Handle headers
-  struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
-  if (!token.empty()) {
-    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
-  }
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
-
-  CURLcode res = curl_easy_perform(curl);
-
-  if (response_code) {
-    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
-  }
-
-  curl_slist_free_all(headers);
-  curl_easy_cleanup(curl);
-
-  return res == CURLE_OK ? readBuffer : std::string{};
-}
-
-}  // namespace CommaApi
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <curl/curl.h>
-#include <string>
-
-#include "common/util.h"
-#include "third_party/json11/json11.hpp"
-
-namespace CommaApi2 {
-
-const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
-std::string httpGet(const std::string &url, long *response_code = nullptr);
-
-}  // namespace CommaApi2
@@ -60,8 +60,8 @@ public:
  inline int segmentCacheLimit() const { return segment_cache_limit; }
  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); }
  inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
-  void setLoop(bool loop) { loop ? flags_ &= ~REPLAY_FLAG_NO_LOOP : flags_ |= REPLAY_FLAG_NO_LOOP; }
-  bool loop() const { return !(flags_ & REPLAY_FLAG_NO_LOOP); }
+  inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
+  inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
  inline const Route* route() const { return route_.get(); }
  inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
  inline std::time_t routeDateTime() const { return route_date_time_; }
@@ -1,12 +1,14 @@
 #include "tools/replay/route.h"

+#include <QEventLoop>
+#include <QJsonArray>
+#include <QJsonDocument>
 #include <array>
 #include <filesystem>
 #include <regex>

-#include "third_party/json11/json11.hpp"
+#include "selfdrive/ui/qt/api.h"
 #include "system/hardware/hw.h"
-#include "tools/replay/api.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"

@@ -70,48 +72,42 @@ bool Route::load() {
 }

 bool Route::loadFromServer(int retries) {
-  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
  for (int i = 1; i <= retries; ++i) {
-    long response_code = 0;
-    std::string result = CommaApi2::httpGet(url, &response_code);
-    if (response_code == 200) {
+    QString result;
+    QEventLoop loop;
+    HttpRequest http(nullptr, !Hardware::PC());
+    QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) {
+      result = json;
+      loop.exit((int)err);
+    });
+    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files");
+    auto err = (QNetworkReply::NetworkError)loop.exec();
+    if (err == QNetworkReply::NoError) {
      return loadFromJson(result);
-    }
-
-    if (response_code == 401 || response_code == 403) {
-      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
-      err_ = RouteLoadError::Unauthorized;
-      break;
-    }
-    if (response_code == 404) {
+    } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
+      rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
+      err_ = RouteLoadError::AccessDenied;
+      return false;
+    } else if (err == QNetworkReply::ContentNotFoundError) {
      rWarning("The specified route could not be found on the server.");
      err_ = RouteLoadError::FileNotFound;
-      break;
+      return false;
+    } else {
+      err_ = RouteLoadError::NetworkError;
    }
-
-    err_ = RouteLoadError::NetworkError;
    rWarning("Retrying %d/%d", i, retries);
    util::sleep_for(3000);
  }
-
  return false;
 }

-bool Route::loadFromJson(const std::string &json) {
-  const static std::regex rx(R"(\/(\d+)\/)");
-  std::string err;
-  auto jsonData = json11::Json::parse(json, err);
-  if (!err.empty()) {
-    rWarning("JSON parsing error: %s", err.c_str());
-    return false;
-  }
-  for (const auto &value : jsonData.object_items()) {
-    const auto &urlArray = value.second.array_items();
-    for (const auto &url : urlArray) {
-      std::string url_str = url.string_value();
-      std::smatch match;
-      if (std::regex_search(url_str, match, rx)) {
-        addFileToSegment(std::stoi(match[1]), url_str);
+bool Route::loadFromJson(const QString &json) {
+  QRegExp rx(R"(\/(\d+)\/)");
+  for (const auto &value : QJsonDocument::fromJson(json.trimmed().toUtf8()).object()) {
+    for (const auto &url : value.toArray()) {
+      QString url_str = url.toString();
+      if (rx.indexIn(url_str) != -1) {
+        addFileToSegment(rx.cap(1).toInt(), url_str.toStdString());
      }
    }
  }
@@ -7,13 +7,14 @@
 #include <thread>
 #include <vector>

+#include <QString>
+
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"

 enum class RouteLoadError {
  None,
-  Unauthorized,
  AccessDenied,
  NetworkError,
  FileNotFound,
@@ -53,7 +54,7 @@ public:
 protected:
  bool loadFromLocal();
  bool loadFromServer(int retries = 3);
-  bool loadFromJson(const std::string &json);
+  bool loadFromJson(const QString &json);
  void addFileToSegment(int seg_num, const std::string &file);
  RouteIdentifier route_ = {};
  std::string data_dir_;
@@ -23,6 +23,42 @@ bool download_to_file(const std::string &url, const std::string &local_file, int
  return false;
 }

+TEST_CASE("httpMultiPartDownload") {
+  char filename[] = "/tmp/XXXXXX";
+  close(mkstemp(filename));
+
+  const size_t chunk_size = 5 * 1024 * 1024;
+  std::string content;
+  SECTION("download to file") {
+    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
+    content = util::read_file(filename);
+  }
+  SECTION("download to buffer") {
+    for (int i = 0; i < 3 && content.empty(); ++i) {
+      content = httpGet(TEST_RLOG_URL, chunk_size);
+      std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }
+    REQUIRE(!content.empty());
+  }
+  REQUIRE(content.size() == 9112651);
+  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
+}
+
+TEST_CASE("FileReader") {
+  auto enable_local_cache = GENERATE(true, false);
+  std::string cache_file = cacheFilePath(TEST_RLOG_URL);
+  system(("rm " + cache_file + " -f").c_str());
+
+  FileReader reader(enable_local_cache);
+  std::string content = reader.read(TEST_RLOG_URL);
+  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
+  if (enable_local_cache) {
+    REQUIRE(sha256(util::read_file(cache_file)) == TEST_RLOG_CHECKSUM);
+  } else {
+    REQUIRE(util::file_exists(cache_file) == false);
+  }
+}
+
 TEST_CASE("LogReader") {
  SECTION("corrupt log") {
    FileReader reader(true);
@@ -98,3 +134,44 @@ std::string download_demo_route() {

  return data_dir;
 }
+
+
+TEST_CASE("Local route") {
+  std::string data_dir = download_demo_route();
+
+  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE, data_dir);
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 2);
+  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
+    read_segment(i, route.at(i), flags);
+  }
+}
+
+TEST_CASE("Remote route") {
+  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE);
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 13);
+  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
+    read_segment(i, route.at(i), flags);
+  }
+}
+
+TEST_CASE("seek_to") {
+  QEventLoop loop;
+  int seek_to = util::random_int(0, 2 * 59);
+  Replay replay(DEMO_ROUTE, {}, {}, nullptr, REPLAY_FLAG_NO_VIPC);
+
+  QObject::connect(&replay, &Replay::seekedTo, [&](double sec) {
+    INFO("seek to " << seek_to << "s sought to" << sec);
+    REQUIRE(sec >= seek_to);
+    loop.quit();
+  });
+
+  REQUIRE(replay.load());
+  replay.start();
+  replay.seekTo(seek_to, false);
+
+  loop.exec();
+}
@@ -1,7 +1,6 @@
 #include "tools/replay/timeline.h"

 #include <array>
-#include <algorithm>

 #include "cereal/gen/cpp/log.capnp.h"

@@ -71,11 +70,11 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
      }
    }

+    callback(log);  // Notify the callback once the log is processed
+
    // Sort and finalize the timeline entries
    std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; });
    timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_);
-
-    callback(log);  // Notify the callback once the log is processed
  }
 }

@@ -47,11 +47,12 @@ class SimulatorBridge(ABC):
    self.dual_camera = dual_camera
    self.high_quality = high_quality

-    self._exit_event: threading.Event | None = None
+    self._exit_event = threading.Event()
    self._threads = []
    self._keep_alive = True
    self.started = Value('i', False)
    signal.signal(signal.SIGTERM, self._on_shutdown)
+    self._exit = threading.Event()
    self.simulator_state = SimulatorState()

    self.world: World | None = None
@@ -75,9 +76,7 @@ class SimulatorBridge(ABC):

  def close(self, reason):
    self.started.value = False
-
-    if self._exit_event is not None:
-      self._exit_event.set()
+    self._exit_event.set()

    if self.world is not None:
      self.world.close(reason)
@@ -104,8 +103,6 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
    self.simulated_car = SimulatedCar()
    self.simulated_sensors = SimulatedSensors(self.dual_camera)

-    self._exit_event = threading.Event()
-
    self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
                                                                        100, self._exit_event))
    self.simulated_car_thread.start()
@@ -145,16 +145,16 @@ wheels = [

 [[package]]
 name = "azure-core"
-version = "1.32.0"
+version = "1.31.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "requests" },
    { name = "six" },
    { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/cc/ee/668328306a9e963a5ad9f152cd98c7adad86c822729fd1d2a01613ad1e67/azure_core-1.32.0.tar.gz", hash = "sha256:22b3c35d6b2dae14990f6c1be2912bf23ffe50b220e708a28ab1bb92b1c730e5", size = 279128 }
+sdist = { url = "https://files.pythonhosted.org/packages/03/7a/f79ad135a276a37e61168495697c14ba1721a52c3eab4dae2941929c79f8/azure_core-1.31.0.tar.gz", hash = "sha256:656a0dd61e1869b1506b7c6a3b31d62f15984b1a573d6326f6aa2f3e4123284b", size = 277147 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/39/83/325bf5e02504dbd8b4faa98197a44cdf8a325ef259b48326a2b6f17f8383/azure_core-1.32.0-py3-none-any.whl", hash = "sha256:eac191a0efb23bfa83fddf321b27b122b4ec847befa3091fa736a5c32c50d7b4", size = 198855 },
+    { url = "https://files.pythonhosted.org/packages/01/8e/fcb6a77d3029d2a7356f38dbc77cf7daa113b81ddab76b5593d23321e44c/azure_core-1.31.0-py3-none-any.whl", hash = "sha256:22954de3777e0250029360ef31d80448ef1be13b80a459bff80ba7073379e2cd", size = 197399 },
 ]

 [[package]]
@@ -1243,7 +1243,7 @@ wheels = [

 [[package]]
 name = "onnxruntime"
-version = "1.20.0"
+version = "1.19.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "coloredlogs" },
@@ -1254,15 +1254,15 @@ dependencies = [
    { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/db/f9f3a2cac589f557c1227d27e288eeb248830613dd1a5b5c17f26894e802/onnxruntime-1.20.0-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8a831b720d0a7be8241a230cb06f592e8bb66652d7cea54ce02d83769651fdee", size = 11946136 },
-    { url = "https://files.pythonhosted.org/packages/53/d8/93706484c8e0db2dfde8559e74b5a9ab74d203a0471671121188c212f7cb/onnxruntime-1.20.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:041fefe60af844ebd90f344c84f908201490555cd0a6d78dd0a7acdc27b59972", size = 13318583 },
-    { url = "https://files.pythonhosted.org/packages/8d/bd/4b15cfc8242577376ed8eb8f10239422945cfa7e52b89db487ceea912c3b/onnxruntime-1.20.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:51e7b34e398089c4ed8d0f50722d7a64a4d5f11b38c4a42576458a03c6dbc72e", size = 11942243 },
-    { url = "https://files.pythonhosted.org/packages/ba/db/7e65fcf45f5485193158999c194470f40be4bb6c82ec7e70401f78220dec/onnxruntime-1.20.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:0e259378ff2843321e0bf4552adcbee48822c91d77d42dde78b87dcdf10ad01f", size = 13313619 },
+    { url = "https://files.pythonhosted.org/packages/f3/78/e29f5fb76e0f6524f3520e8e5b9d53282784b45d14068c5112db9f712b0a/onnxruntime-1.19.2-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c1dfe4f660a71b31caa81fc298a25f9612815215a47b286236e61d540350d7b6", size = 11496005 },
+    { url = "https://files.pythonhosted.org/packages/60/ce/be4152da5c1030ab5a159a4a792ed9abad6ba498d79ef0aeba593ff7b5bf/onnxruntime-1.19.2-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:a36511dc07c5c964b916697e42e366fa43c48cdb3d3503578d78cef30417cb84", size = 13167809 },
+    { url = "https://files.pythonhosted.org/packages/47/64/da42254ec14452cad2cdd4cf407094841c0a378c0d08944e9a36172197e9/onnxruntime-1.19.2-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d2d366fbcc205ce68a8a3bde2185fd15c604d9645888703785b61ef174265168", size = 11486028 },
+    { url = "https://files.pythonhosted.org/packages/b2/92/3574f6836f33b1b25f272293e72538c38451b12c2d9aa08630bb6bc0f057/onnxruntime-1.19.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:477b93df4db467e9cbf34051662a4b27c18e131fa1836e05974eae0d6e4cf29b", size = 13175054 },
 ]

 [[package]]
 name = "onnxruntime-gpu"
-version = "1.20.0"
+version = "1.19.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "coloredlogs" },
@@ -1273,8 +1273,8 @@ dependencies = [
    { name = "sympy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/60/d0/9baa124f0276a186175c4e819d62ed75416096b0f7ff058296989d4712ff/onnxruntime_gpu-1.20.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:6338fdfc955489b1d4329498f7f07640c000f92eae8933de293adc5f5ed480f5", size = 291504604 },
-    { url = "https://files.pythonhosted.org/packages/ed/cd/98ea1ef90c5e51de69239881522a4c115a009dba99d83fd8e2606b33358d/onnxruntime_gpu-1.20.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:06398420c363b7e400de98deb8bc238fcff98adafe8eeda6ff96a94e20713ac0", size = 291507294 },
+    { url = "https://files.pythonhosted.org/packages/85/33/06e856502a1d482532cfa7d4c7ca775dfddcd851c7bd1833f5177e567055/onnxruntime_gpu-1.19.2-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:562fc7c755393eaad9751e56149339dd201ffbfdb3ef5f43ff21d0619ba9045f", size = 226175096 },
+    { url = "https://files.pythonhosted.org/packages/68/55/49e5b4b4d6e9a8841dcdec2f102069716b626bf6ce9640b832a9497504eb/onnxruntime_gpu-1.19.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:554a02a3fac0119707eb87327908afd21c4e6f0fa5bf9a034398f098adc316c5", size = 226163139 },
 ]

 [[package]]
@@ -1459,11 +1459,11 @@ requires-dist = [

 [[package]]
 name = "packaging"
-version = "24.2"
+version = "24.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d0/63/68dbb6eb2de9cb10ee4c9c14a0148804425e13c4fb20d61cce69f53106da/packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f", size = 163950 }
+sdist = { url = "https://files.pythonhosted.org/packages/51/65/50db4dda066951078f0a96cf12f4b9ada6e4b811516bf0262c0f4f7064d4/packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002", size = 148788 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/08/aa/cc0199a5f0ad350994d660967a8efb233fe0416e4639146c089643407ce6/packaging-24.1-py3-none-any.whl", hash = "sha256:5b8f2217dbdbd2f7f384c41c628544e6d52f2d0f53c6d0c3ea61aa5d1d7ff124", size = 53985 },
 ]

 [[package]]
@@ -4454,15 +4454,15 @@ wheels = [

 [[package]]
 name = "pytest-cov"
-version = "6.0.0"
+version = "5.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "coverage", extra = ["toml"] },
    { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/be/45/9b538de8cef30e17c7b45ef42f538a94889ed6a16f2387a6c89e73220651/pytest-cov-6.0.0.tar.gz", hash = "sha256:fde0b595ca248bb8e2d76f020b465f3b107c9632e6a1d1705f17834c89dcadc0", size = 66945 }
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 [[package]]
Author	SHA1	Message	Date
DevTekVE	370c0229ae	Refactor flag handling in ESCC and introduce sunnyParams Refactored ESCC flag handling to use sunnyParams for clarity and better structure. Updated related tests and configurations to align with the new sunnyParams structure. Also, added the sunnyParams definition to car.capnp.	2024-11-10 21:26:16 +01:00
DevTekVE	0a89980a8b	Update Hyundai carcontroller for ESCC and adjust SP flags Added ESCC parameter to `create_acc_opt` call for enhanced support in Hyundai. Also realigned Sunnypilot flags to prevent conflicts with existing definitions and arranged for proper bit allocation.	2024-11-10 16:48:49 +01:00
DevTekVE	9d18dd3687	Reorder HyundaiFlagsSP bit flags to avoid conflicts. Updated the bit flags in HyundaiFlagsSP to be in reverse order to prevent conflicts with existing CarParams from OP. This ensures no overlap and maintains code clarity and functionality.	2024-11-10 15:37:43 +01:00
DevTekVE	518ee80782	bump submodule	2024-11-10 15:19:26 +01:00
DevTekVE	a36f4836c1	bump opendbc	2024-11-08 17:45:31 +01:00
DevTekVE	78ca68d3dc	Add unit tests for Hyundai ESCC and ESCC Base classes Introduced comprehensive test cases for ESCC and ESCC Base classes within the Hyundai car implementation. These tests include validating message IDs, enabled flag handling, and refreshing car state functionalities. The goal is to ensure robust and accurate behavior of the ESCC-related features.	2024-11-08 10:53:27 +01:00
DevTekVE	e62763c5ad	Remove SP_DEBUG dependency from escc as its not currently used	2024-11-08 10:42:29 +01:00
DevTekVE	8c3d2e8130	Sync up submodules for ESCC	2024-11-08 10:17:06 +01:00
DevTekVE	c05191949a	Updating submodules	2024-11-02 19:15:58 +01:00
Jason Wen	9d5ea83f5a	Add Custom MIT License (#438 )	2024-11-02 18:53:31 +01:00