feat: add additional MDPS and MFC entries for KIA Niro PHEV

.github/labeler.yaml

@@ -1,6 +1,6 @@
 ci:
   - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
+    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
 chore:
   - changed-files:

.github/workflows/build-all-tinygrad-models.yaml

@@ -16,24 +16,7 @@ jobs:
       recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
       json_file: ${{ steps.get-json.outputs.json_file }}
       model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
     steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
       - name: Checkout docs repo (sunnypilot-docs, gh-pages)
         uses: actions/checkout@v4
         with:
@@ -127,7 +110,7 @@ jobs:
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
@@ -286,7 +269,6 @@ jobs:
           ARGS=""
           [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
           ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
             --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \

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

@@ -42,11 +42,11 @@ on:
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
-        type: string
+        type: number
       json_version:
         description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
         required: true
-        type: string
+        type: number
       model_folder:
         description: 'Model folder'
         type: choice
@@ -67,11 +67,11 @@ on:
       generation:
         description: 'Model generation'
         required: false
-        type: string
+        type: number
       version:
         description: 'Minimum selector version'
         required: false
-        type: string
+        type: number
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
   JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json

.github/workflows/cereal_validation.yaml

@@ -21,8 +21,8 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
+  BASE_IMAGE: sunnypilot-base
+  BUILD: release/ci/docker_build_sp.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
@@ -59,7 +59,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-          repository: 'commaai/openpilot'
+          repository: 'sunnypilot/sunnypilot'
           submodules: true
           ref: "refs/heads/master"
       - uses: ./.github/workflows/setup-with-retry

.github/workflows/jenkins-pr-trigger.yaml

@@ -9,9 +9,6 @@ jobs:
   scan-comments:
     runs-on: ubuntu-latest
     if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
     steps:
     - name: Check for trigger phrase
       id: check_comment
@@ -46,14 +43,3 @@ jobs:
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
         GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/repo-maintenance.yaml

@@ -50,7 +50,6 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
         git submodule update --remote
         git add .
     - name: update car docs

.github/workflows/selfdrive_tests.yaml

@@ -189,8 +189,7 @@ jobs:
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
       run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
+        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
                         MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \

.gitignore

@@ -13,11 +13,9 @@ venv/
 model2.png
 a.out
 .hypothesis
-.cache/
 
 /docs_site/
 
-*.mp4
 *.dylib
 *.DSYM
 *.d

RELEASES.md

@@ -1,17 +1,10 @@
-Version 0.10.1 (2025-09-08)
-========================
-
-Version 0.10.0 (2025-08-05)
+Version 0.10.0 (2025-07-07)
 ========================
 * New driving model
-  * New training architecture
-     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
-     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
-  * Low-speed lead car ground-truth fixes
-
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+  * New training architecture described in CVPR paper
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
 
 Version 0.9.9 (2025-05-23)

SConstruct

@@ -17,7 +17,7 @@ AGNOS = TICI
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', int(os.cpu_count()/2))
 
 AddOption('--kaitai',
           action='store_true',

cereal/log.capnp

@@ -127,9 +127,8 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
-    userBookmark @95;
+    userFlag @95;
     excessiveActuation @96;
-    audioFeedback @97;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -2469,7 +2468,7 @@ struct DebugAlert {
   alertText2 @1 :Text;
 }
 
-struct UserBookmark @0xfe346a9de48d9b50 {
+struct UserFlag {
 }
 
 struct SoundPressure @0xdc24138990726023 {
@@ -2487,11 +2486,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2592,13 +2586,9 @@ struct Event {
     mapRenderState @105: MapRenderState;
 
     # UI services
+    userFlag @93 :UserFlag;
     uiDebug @102 :UIDebug;
 
-    # driving feedback
-    userBookmark @93 :UserBookmark;
-    bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
-
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;

cereal/messaging/tests/test_messaging.py

@@ -177,8 +177,8 @@ class TestMessaging:
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
-    start_time = time.monotonic()
     delayed_send(sock_timeout*5, 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 isinstance(recvd, capnp._DynamicStructReader)

cereal/messaging/tests/test_pub_sub_master.py

@@ -86,7 +86,7 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
-        "userBookmark": (None, None),
+        "userFlag": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():

cereal/services.py

@@ -72,11 +72,9 @@ _services: dict[str, tuple] = {
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
-  "userBookmark": (True, 0., 1),
+  "userFlag": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
-  "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1),

common/conversions.py

@@ -1,7 +1,6 @@
 import numpy as np
 
-# conversions
-class CV:
+class Conversions:
   # Speed
   MPH_TO_KPH = 1.609344
   KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -18,6 +17,3 @@ class CV:
 
   # Mass
   LB_TO_KG = 0.453592
-
-
-ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Space Lab 2 (Default)"

common/params_keys.h

@@ -12,7 +12,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ApiCache_Device", {PERSISTENT, STRING}},
     {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
-    {"AthenadPid", {PERSISTENT, INT}},
+    {"AthenadPid", {PERSISTENT, STRING}},
     {"AthenadUploadQueue", {PERSISTENT, JSON}},
     {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
     {"BootCount", {PERSISTENT, INT}},
@@ -105,7 +105,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
@@ -140,14 +139,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
-    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, STRING}},
     {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
     {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
@@ -164,11 +162,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
 
     // Model Manager params
-    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
+    {"ModelManager_ActiveBundle", {PERSISTENT, STRING}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, STRING}},
 
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -179,7 +177,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
-    {"SunnylinkdPid", {PERSISTENT, INT}},
+    {"SunnylinkdPid", {PERSISTENT, STRING}},
     {"SunnylinkEnabled", {PERSISTENT, BOOL}},
 
     // Backup Manager params
@@ -194,19 +192,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // model panel params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"LagdToggleDesc", {PERSISTENT, STRING}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
-    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
     {"MapdVersion", {PERSISTENT, STRING, ""}},
     {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
     {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
     {"OSMDownloadBounds", {PERSISTENT, STRING}},
     {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
-    {"OSMDownloadLocations", {PERSISTENT, JSON}},
+    {"OSMDownloadLocations", {PERSISTENT, STRING}},
     {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
     {"OsmLocal", {PERSISTENT, BOOL}},
     {"OsmLocationName", {PERSISTENT, STRING}},

common/params_pyx.pyx

@@ -103,14 +103,14 @@ cdef class Params:
       return cast(value)
     raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
 
-  def _cpp2python(self, t, value, default, key):
+  def cpp2python(self, t, value, default, key):
     if value is None:
       return None
     try:
       return CPP_2_PYTHON[t](value)
     except (KeyError, TypeError, ValueError):
       cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self._cpp2python(t, default, None, key)
+      return self.cpp2python(t, default, None, key)
 
   def get(self, key, bool block=False, bool return_default=False):
     cdef string k = self.check_key(key)
@@ -127,8 +127,8 @@ cdef class Params:
         # it means we got an interrupt while waiting
         raise KeyboardInterrupt
       else:
-        return self._cpp2python(t, default_val, None, key)
-    return self._cpp2python(t, val, default_val, key)
+        return self.cpp2python(t, default_val, None, key)
+    return self.cpp2python(t, val, default_val, key)
 
   def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
@@ -189,9 +189,4 @@ cdef class Params:
     cdef string k = self.check_key(key)
     cdef ParamKeyType t = self.p.getKeyType(k)
     cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
-
-  def cpp2python(self, key, value):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return self._cpp2python(t, value, None, key)
+    return self.cpp2python(t, default.value(), None, key) if default.has_value() else None

common/pid.py

@@ -17,6 +17,7 @@ class PIDController:
     self.pos_limit = pos_limit
     self.neg_limit = neg_limit
 
+    self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.speed = 0.0
 
@@ -34,6 +35,10 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -41,21 +46,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
     self.speed = speed
+
     self.p = float(error) * self.k_p
     self.f = feedforward * self.k_f
     self.d = error_rate * self.k_d
 
-    if not freeze_integrator:
-      i = self.i + error * self.k_i * self.i_rate
+    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
 
-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
+
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

common/prefix.py

@@ -9,19 +9,20 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
-    self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache
 
   def __enter__(self):
     self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
     os.environ['OPENPILOT_PREFIX'] = self.prefix
-
-    if self.create_dirs_on_enter:
-      self.create_dirs()
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
 
     if self.shared_download_cache:
       os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -39,13 +40,6 @@ class OpenpilotPrefix:
       pass
     return False
 
-  def create_dirs(self):
-    try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
-
   def clean_dirs(self):
     symlink_path = Params().get_param_path()
     if os.path.exists(symlink_path):

common/tests/test_params.py

@@ -37,9 +37,9 @@ class TestParams:
 
   def test_params_two_things(self):
     self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", 123)
+    self.params.put("AthenadPid", "123")
     assert self.params.get("DongleId") == "bob"
-    assert self.params.get("AthenadPid") == 123
+    assert self.params.get("AthenadPid") == "123"
 
   def test_params_get_block(self):
     def _delayed_writer():

common/util.cc

@@ -1,5 +1,4 @@
 #include "common/util.h"
-#include "common/swaglog.h"
 
 #include <sys/ioctl.h>
 #include <sys/stat.h>
@@ -152,16 +151,11 @@ int safe_fflush(FILE *stream) {
   return ret;
 }
 
-int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
+int safe_ioctl(int fd, unsigned long request, void *argp) {
   int ret;
   do {
     ret = ioctl(fd, request, argp);
   } while ((ret == -1) && (errno == EINTR));
-
-  if (ret == -1 && exception_msg) {
-    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
-    throw std::runtime_error(exception_msg);
-  }
   return ret;
 }
 

common/util.h

@@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
+int safe_ioctl(int fd, unsigned long request, void *argp);
 
 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.1"
+#define COMMA_VERSION "0.10.0"

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 313 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -72,7 +72,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|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 M connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -105,7 +104,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -119,13 +117,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -149,7 +144,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|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 P connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|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 P connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving 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 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -185,7 +179,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
@@ -218,9 +212,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
-|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -228,14 +220,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.6"
+  export AGNOS_VERSION="12.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -120,6 +120,7 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  #"rerun-sdk >= 0.18",  # this is pretty big, so only enable once we use it
 ]
 
 [project.urls]
@@ -151,7 +152,6 @@ markers = [
 testpaths = [
   "common",
   "selfdrive",
-  "system/manager",
   "system/updated",
   "system/athena",
   "system/camerad",

release/README.md

@@ -4,24 +4,20 @@
 ## release checklist
 
 **Go to `devel-staging`**
-- [ ] make issue to track release
 - [ ] update RELEASES.md
-- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
-- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
-- [ ] build new userdata partition from `release3-staging`
+- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
 - [ ] open a pull request from `devel-staging` to `devel`
-- [ ] post on Discord, tag `@release crew`
+- [ ] post on Discord
 
 **Go to `devel`**
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] before merging the pull request, test the following:
+- [ ] before merging the pull request
   - [ ] update from previous release -> new release
   - [ ] update from new release -> previous release
   - [ ] fresh install with `openpilot-test.comma.ai`
   - [ ] drive on fresh install
   - [ ] no submodules or LFS
   - [ ] check sentry, MTBF, etc.
-  - [ ] stress test in production
 
 **Go to `release3`**
 - [ ] publish the blog post

selfdrive/assets/icons/link.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
-size 5713

selfdrive/car/car_specific.py

@@ -57,7 +57,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)

selfdrive/car/card.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
@@ -106,11 +107,9 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
-      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
+      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle") or "{}").get("platform", None)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP

selfdrive/car/cruise.py

@@ -2,7 +2,7 @@ import math
 import numpy as np
 
 from cereal import car
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
 
 

selfdrive/car/tests/test_cruise_speed.py

@@ -6,7 +6,7 @@ from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 ButtonEvent = car.CarState.ButtonEvent

selfdrive/controls/controlsd.py

@@ -2,11 +2,11 @@
 import math
 import threading
 import time
-from numbers import Number
+from typing import SupportsFloat
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
@@ -21,8 +21,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -32,16 +30,15 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt, ModelStateBase):
+class Controls(ControlsExt):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    # Initialize sunnypilot controlsd extension and base model state
+    # Initialize sunnypilot controlsd extension
     ControlsExt.__init__(self, self.CP, self.params)
-    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -51,7 +48,7 @@ class Controls(ControlsExt, ModelStateBase):
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
-    self.steer_limited_by_safety = False
+    self.steer_limited_by_controls = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
 
@@ -96,9 +93,8 @@ class Controls(ControlsExt, ModelStateBase):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
-
-      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
-      self.LaC.extension.update_lateral_lag(self.lat_delay)
+      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
+      self.LaC.extension.update_lateral_lag(calculated_lag)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
@@ -140,14 +136,14 @@ class Controls(ControlsExt, ModelStateBase):
 
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
+                                                       self.steer_limited_by_controls, self.desired_curvature,
                                                        self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
-      if not isinstance(attr, Number):
+      if not isinstance(attr, SupportsFloat):
         continue
 
       if not math.isfinite(attr):
@@ -187,10 +183,10 @@ class Controls(ControlsExt, ModelStateBase):
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency

selfdrive/controls/lib/desire_helper.py

@@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,5 @@
 import numpy as np
-from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0

selfdrive/controls/lib/latcontrol.py

@@ -15,15 +15,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate

selfdrive/controls/lib/latcontrol_angle.py

@@ -3,7 +3,6 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
-# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
@@ -11,9 +10,9 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_controls = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -24,9 +23,9 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    if self.use_steer_limited_by_safety:
+    if self.use_steer_limited_by_controls:
       # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_safety
+      angle_control_saturated = steer_limited_by_controls
     else:
       # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
       # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved

selfdrive/controls/lib/latcontrol_pid.py

@@ -13,7 +13,11 @@ class LatControlPID(LatControl):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -25,24 +29,20 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_torque = 0.0
+      output_steer = 0.0
       pid_log.active = False
-
+      self.pid.reset()
     else:
       # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-
-      output_torque = self.pid.update(error,
-                                feedforward=ff,
-                                speed=CS.vEgo,
-                                freeze_integrator=freeze_integrator)
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
 
+      output_steer = self.pid.update(error, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_torque)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
-    return output_torque, angle_steers_des, pid_log
+    return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -2,9 +2,9 @@ import math
 import numpy as np
 
 from cereal import log
-from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.car import FRICTION_THRESHOLD, get_friction
 from opendbc.car.interfaces import LatControlInputs
-from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
@@ -41,7 +41,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -76,7 +76,7 @@ class LatControlTorque(LatControl):
                                           desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
                                           desired_curvature, actual_curvature)
 
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -90,7 +90,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/ldw.py

@@ -1,6 +1,6 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 
 
 CAMERA_OFFSET = 0.04

selfdrive/controls/lib/longitudinal_planner.py

@@ -4,7 +4,7 @@ import numpy as np
 
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -21,7 +21,7 @@ LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
-ALLOW_THROTTLE_THRESHOLD = 0.4
+ALLOW_THROTTLE_THRESHOLD = 0.5
 MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
@@ -188,7 +188,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']

selfdrive/debug/run_process_on_route.py

@@ -1,25 +1,23 @@
 #!/usr/bin/env python3
+
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
 from openpilot.tools.lib.logreader import LogReader, save_log
 
-ALLOW_PROCS = {c.proc_name for c in CONFIGS}
-
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("route", help="The route name to use")
   parser.add_argument("--fingerprint", help="The fingerprint to use")
-  parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
-  parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("process", nargs='+', help="The process(s) to run")
   args = parser.parse_args()
 
-  allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
-  cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]
+  cfgs = [c for c in CONFIGS if c.proc_name in args.process]
+
+  lr = LogReader(args.route)
+  inputs = list(lr)
 
-  inputs = list(LogReader(args.route))
   outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
 
   # Remove message generated by the process under test and merge in the new messages
@@ -27,6 +25,6 @@ if __name__ == "__main__":
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
-  fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
+  fn = f"{args.route.replace('/', '_')}_{'_'.join(args.process)}.zst"
   print(f"Saving log to {fn}")
   save_log(fn, outputs)

selfdrive/locationd/calibrationd.py

@@ -14,7 +14,7 @@ from typing import NoReturn
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot

selfdrive/locationd/lagd.py

@@ -12,7 +12,6 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 BLOCK_SIZE = 100
 BLOCK_NUM = 50
@@ -375,8 +374,6 @@ def main():
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
-  lagd_toggle = LagdToggle(CP)
-
   while True:
     sm.update()
     if sm.all_checks():
@@ -395,6 +392,3 @@ def main():
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
-
-      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
-        lagd_toggle.update(lag_msg)

selfdrive/locationd/models/car_kf.py

@@ -5,7 +5,7 @@ from typing import Any
 
 import numpy as np
 
-from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog
 

selfdrive/locationd/torqued.py

@@ -4,13 +4,14 @@ from collections import deque, defaultdict
 
 import cereal.messaging as messaging
 from cereal import car, log
-from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -33,7 +34,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian']
 
 
 def slope2rot(slope):
@@ -50,7 +51,7 @@ class TorqueBuckets(PointBuckets):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, LagdToggle):
   def __init__(self, CP, decimated=False, track_all_points=False):
     super().__init__()
     self.CP = CP
@@ -98,7 +99,6 @@ class TorqueEstimator(ParameterEstimator):
 
     # try to restore cached params
     params = Params()
-    self.params = params
     params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
@@ -180,7 +180,7 @@ class TorqueEstimator(ParameterEstimator):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = get_lat_delay(self.params, msg.lateralDelay)
+      self.lag = self.lagd_torqued_main(self.CP, msg)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:

selfdrive/modeld/modeld.py

@@ -31,8 +31,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -80,14 +79,13 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState(ModelStateBase):
+class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
     self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
@@ -251,6 +249,8 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = LagdToggle()
+
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,9 +296,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
+    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
     lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
+oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
 size 15583374

selfdrive/modeld/parse_model_outputs.py

@@ -94,21 +94,15 @@ class Parser:
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+      out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))

selfdrive/pandad/pandad.cc

@@ -84,15 +84,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     panda->set_can_fd_auto(i, true);
   }
 
-  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
-                                       DEPRECATED_PANDA_TYPES.end(),
-                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
-
-  if (is_deprecated_panda) {
-    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
-    return panda.release();
-  }
-
   if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }

selfdrive/pandad/pandad.h

@@ -8,17 +8,6 @@
 
 void pandad_main_thread(std::vector<std::string> serials);
 
-// deprecated devices
-static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
-  cereal::PandaState::PandaType::WHITE_PANDA,
-  cereal::PandaState::PandaType::GREY_PANDA,
-  cereal::PandaState::PandaType::BLACK_PANDA,
-  cereal::PandaState::PandaType::PEDAL,
-  cereal::PandaState::PandaType::UNO,
-  cereal::PandaState::PandaType::RED_PANDA_V2
-};
-
-
 class PandaSafety {
 public:
   PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}

selfdrive/pandad/pandad.py

@@ -36,12 +36,6 @@ def flash_panda(panda_serial: str) -> Panda:
   panda_signature = b"" if panda.bootstub else panda.get_signature()
   cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
 
-  # skip flashing if the detected device is deprecated from upstream
-  hw_type = panda.get_type()
-  if hw_type in Panda.DEPRECATED_DEVICES:
-    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
-    return panda
-
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
     panda.flash()

selfdrive/pandad/spi.cc

@@ -66,44 +66,58 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   // 50MHz is the max of the 845. note that some older
   // revs of the comma three may not support this speed
   uint32_t spi_speed = 50000000;
-  try {
-    if (!util::file_exists(SPI_DEVICE)) {
-      throw std::runtime_error("Error connecting to panda: SPI device not found");
-    }
 
-    spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
-    if (spi_fd < 0) {
-      LOGE("failed opening SPI device %d", spi_fd);
-      throw std::runtime_error("Error connecting to panda: failed to open SPI device");
-    }
-
-    // SPI settings
-    util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
-    util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
-    util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
-
-    // get hw UID/serial
-    ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
-    if (ret == uid_len) {
-      std::stringstream stream;
-      for (int i = 0; i < uid_len; i++) {
-        stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
-      }
-      hw_serial = stream.str();
-    } else {
-      LOGD("failed to get serial %d", ret);
-      throw std::runtime_error("Error connecting to panda: failed to get serial");
-    }
-
-    if (!serial.empty() && (serial != hw_serial)) {
-      throw std::runtime_error("Error connecting to panda: serial mismatch");
-    }
-
-  } catch (...) {
-    cleanup();
-    throw;
+  if (!util::file_exists(SPI_DEVICE)) {
+    goto fail;
   }
+
+  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
+  if (spi_fd < 0) {
+    LOGE("failed opening SPI device %d", spi_fd);
+    goto fail;
+  }
+
+  // SPI settings
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
+  if (ret < 0) {
+    LOGE("failed setting SPI mode %d", ret);
+    goto fail;
+  }
+
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+  if (ret < 0) {
+    LOGE("failed setting SPI speed");
+    goto fail;
+  }
+
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
+  if (ret < 0) {
+    LOGE("failed setting SPI bits per word");
+    goto fail;
+  }
+
+  // get hw UID/serial
+  ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
+  if (ret == uid_len) {
+    std::stringstream stream;
+    for (int i = 0; i < uid_len; i++) {
+      stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+    }
+    hw_serial = stream.str();
+  } else {
+    LOGD("failed to get serial %d", ret);
+    goto fail;
+  }
+
+  if (!serial.empty() && (serial != hw_serial)) {
+    goto fail;
+  }
+
   return;
+
+fail:
+  cleanup();
+  throw std::runtime_error("Error connecting to panda");
 }
 
 PandaSpiHandle::~PandaSpiHandle() {

selfdrive/selfdrived/alerts_offroad.json

@@ -46,7 +46,7 @@
     "severity": 0
   },
   "Offroad_ExcessiveActuation": {
-    "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
+    "text": "openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
   }

selfdrive/selfdrived/events.py

@@ -4,12 +4,10 @@ import os
 
 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
@@ -42,7 +40,6 @@ class Events(EventsBase):
     return log.OnroadEvent
 
 
-
 # ********** helper functions **********
 def get_display_speed(speed_ms: float, metric: bool) -> str:
   speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
@@ -95,14 +92,6 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
-def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
-  return NormalPermanentAlert(
-    "Recording Audio Feedback",
-    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
-    priority=Priority.LOW)
-
-
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -214,7 +203,6 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   return NormalPermanentAlert("Invalid LKAS setting", text)
 
 
-
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
@@ -836,13 +824,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
-  EventName.userBookmark: {
+  EventName.userFlag: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
-
-  EventName.audioFeedback: {
-    ET.PERMANENT: audio_feedback_alert,
-  },
 }
 
 

selfdrive/selfdrived/helpers.py

@@ -1,54 +0,0 @@
-import math
-from enum import StrEnum, auto
-
-from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.locationd.helpers import Pose
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
-from opendbc.car.lateral import ISO_LATERAL_ACCEL
-from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
-
-MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
-MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
-
-
-class ExcessiveActuationType(StrEnum):
-  LONGITUDINAL = auto()
-  LATERAL = auto()
-
-
-class ExcessiveActuationCheck:
-  def __init__(self):
-    self._excessive_counter = 0
-    self._engaged_counter = 0
-
-  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
-    # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
-    # longitudinal
-    accel_calibrated = calibrated_pose.acceleration.x
-    excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
-
-    # lateral
-    yaw_rate = calibrated_pose.angular_velocity.yaw
-    roll = sm['liveParameters'].roll
-    roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
-
-    # Prevent false positives after overriding
-    excessive_lat_actuation = False
-    self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
-    if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
-      if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
-        excessive_lat_actuation = True
-
-    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
-    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
-    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
-
-    excessive_type = None
-    if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
-      if excessive_long_actuation:
-        excessive_type = ExcessiveActuationType.LONGITUDINAL
-      else:
-        excessive_type = ExcessiveActuationType.LATERAL
-
-    return excessive_type

selfdrive/selfdrived/selfdrived.py

@@ -7,6 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 
 
 from openpilot.common.params import Params
@@ -17,7 +18,6 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
-from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
@@ -34,6 +34,7 @@ SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
+MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
@@ -47,6 +48,21 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
+def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrator: PoseCalibrator, counter: int) -> tuple[int, bool]:
+  # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
+  device_pose = Pose.from_live_pose(sm['livePose'])
+  calibrated_pose = calibrator.build_calibrated_pose(device_pose)
+  accel_calibrated = calibrated_pose.acceleration.x
+
+  # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
+  accel_valid = abs(CS.aEgo - accel_calibrated) < 2
+
+  excessive_actuation = accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2
+  counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0
+
+  return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT
+
+
 class SelfdriveD(CruiseHelper):
   def __init__(self, CP=None, CP_SP=None):
     self.params = Params()
@@ -69,11 +85,7 @@ class SelfdriveD(CruiseHelper):
       self.CP_SP = CP_SP
 
     self.car_events = CarSpecificEvents(self.CP)
-
-    self.pose_calibrator = PoseCalibrator()
-    self.calibrated_pose: Pose | None = None
-    self.excessive_actuation_check = ExcessiveActuationCheck()
-    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
+    self.calibrator = PoseCalibrator()
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -95,7 +107,7 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -131,6 +143,8 @@ class SelfdriveD(CruiseHelper):
     self.experimental_mode = False
     self.personality = self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
+    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
+    self.excessive_actuation_counter = 0
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -191,12 +205,9 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
-    if self.sm.updated['userBookmark']:
-      self.events.add(EventName.userBookmark)
-
-    if self.sm.updated['audioFeedback']:
-      self.events.add(EventName.audioFeedback)
+    # Check for user flag (bookmark) press
+    if self.sm.updated['userFlag']:
+      self.events.add(EventName.userFlag)
 
     # Don't add any more events while in dashcam mode
     if self.CP.passive:
@@ -265,18 +276,14 @@ class SelfdriveD(CruiseHelper):
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
-    # Check for excessive actuation
+    # Check for excessive (longitudinal) actuation
     if self.sm.updated['liveCalibration']:
-      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
-    if self.sm.updated['livePose']:
-      device_pose = Pose.from_live_pose(self.sm['livePose'])
-      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+      self.calibrator.feed_live_calib(self.sm['liveCalibration'])
 
-    if self.calibrated_pose is not None:
-      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
-      if not self.excessive_actuation and excessive_actuation is not None:
-        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
-        self.excessive_actuation = True
+    self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrator, self.excessive_actuation_counter)
+    if not self.excessive_actuation and excessive_actuation:
+      set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal")
+      self.excessive_actuation = True
 
     if self.excessive_actuation:
       self.events.add(EventName.excessiveActuation)
@@ -332,12 +339,13 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if self.sm['radarState'].radarErrors.canError:
-      self.events.add(EventName.canError)
-    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-      self.events.add(EventName.radarTempUnavailable)
-    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
-      self.events.add(EventName.radarFault)
+    if not self.sm.valid['radarState']:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      else:
+        self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     if CS.canTimeout:

selfdrive/test/process_replay/process_replay.py

@@ -4,9 +4,8 @@ import time
 import copy
 import heapq
 import signal
-from collections import Counter
+from collections import Counter, OrderedDict
 from dataclasses import dataclass, field
-from itertools import islice
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
@@ -17,13 +16,12 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
-from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.card import convert_to_capnp
+from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -32,10 +30,22 @@ from openpilot.tools.lib.logreader import LogIterable
 from openpilot.tools.lib.framereader import FrameReader
 
 # Numpy gives different results based on CPU features after version 19
-NUMPY_TOLERANCE = 1e-2
+NUMPY_TOLERANCE = 1e-7
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
+class DummySocket:
+  def __init__(self):
+    self.data: list[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> bytes | None:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)
 
 class LauncherWithCapture:
   def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
@@ -53,7 +63,8 @@ class ReplayContext:
     self.pubs = cfg.pubs
     self.main_pub = cfg.main_pub
     self.main_pub_drained = cfg.main_pub_drained
-    assert len(self.pubs) != 0 or self.main_pub is not None
+    self.unlocked_pubs = cfg.unlocked_pubs
+    assert(len(self.pubs) != 0 or self.main_pub is not None)
 
   def __enter__(self):
     self.open_context()
@@ -68,8 +79,9 @@ class ReplayContext:
     messaging.set_fake_prefix(self.proc_name)
 
     if self.main_pub is None:
-      self.events = {}
-      for pub in self.pubs:
+      self.events = OrderedDict()
+      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
+      for pub in pubs_with_events:
         self.events[pub] = messaging.fake_event_handle(pub, enable=True)
     else:
       self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
@@ -126,21 +138,16 @@ class ProcessConfig:
   processing_time: float = 0.001
   timeout: int = 30
   simulation: bool = True
-  # Set to service process receives on first
   main_pub: str | None = None
-  main_pub_drained: bool = False
+  main_pub_drained: bool = True
   vision_pubs: list[str] = field(default_factory=list)
   ignore_alive_pubs: list[str] = field(default_factory=list)
-
-  def __post_init__(self):
-    # If the process is polling a service, we can just lock that one to speed up replay
-    if self.main_pub is None and isinstance(self.should_recv_callback, MessageBasedRcvCallback):
-      self.main_pub = self.should_recv_callback.trigger_msg_type
+  unlocked_pubs: list[str] = field(default_factory=list)
 
 
 class ProcessContainer:
   def __init__(self, cfg: ProcessConfig):
-    self.prefix = OpenpilotPrefix(create_dirs_on_enter=False, clean_dirs_on_exit=False)
+    self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
     self.cfg = copy.deepcopy(cfg)
     self.process = copy.deepcopy(managed_processes[cfg.proc_name])
     self.msg_queue: list[capnp._DynamicStructReader] = []
@@ -222,7 +229,6 @@ class ProcessContainer:
     fingerprint: str | None, capture_output: bool
   ):
     with self.prefix as p:
-      self.prefix.create_dirs()
       self._setup_env(params_config, environ_config)
 
       if self.cfg.config_callback is not None:
@@ -248,6 +254,11 @@ class ProcessContainer:
       if self.cfg.init_callback is not None:
         self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)
 
+      # wait for process to startup
+      with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
+        while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
+          time.sleep(0)
+
   def stop(self):
     with self.prefix:
       self.process.signal(signal.SIGKILL)
@@ -256,42 +267,28 @@ class ProcessContainer:
       self.prefix.clean_dirs()
       self._clean_env()
 
-  def get_output_msgs(self, start_time: int):
-    assert self.rc and self.sockets
-
-    output_msgs = []
-    self.rc.wait_for_recv_called()
-    for socket in self.sockets:
-      ms = messaging.drain_sock(socket)
-      for m in ms:
-        m = m.as_builder()
-        m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
-        output_msgs.append(m.as_reader())
-    return output_msgs
-
   def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
     assert self.rc and self.pm and self.sockets and self.process.proc
 
     output_msgs = []
-    end_of_cycle = True
-    if self.cfg.should_recv_callback is not None:
-      end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
+    with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
+      end_of_cycle = True
+      if self.cfg.should_recv_callback is not None:
+        end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
+
+      self.msg_queue.append(msg)
+      if end_of_cycle:
+        self.rc.wait_for_recv_called()
 
-    self.msg_queue.append(msg)
-    if end_of_cycle:
-      with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
         # call recv to let sub-sockets reconnect, after we know the process is ready
         if self.cnt == 0:
           for s in self.sockets:
             messaging.recv_one_or_none(s)
 
-        # certain processes use drain_sock. need to cause empty recv to break from this loop
+        # empty recv on drained pub indicates the end of messages, only do that if there're any
         trigger_empty_recv = False
         if self.cfg.main_pub and self.cfg.main_pub_drained:
-          trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
-
-        # get output msgs from previous inputs
-        output_msgs = self.get_output_msgs(msg.logMonoTime)
+          trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
 
         for m in self.msg_queue:
           self.pm.send(m.which(), m.as_builder())
@@ -306,8 +303,14 @@ class ProcessContainer:
         self.msg_queue = []
 
         self.rc.unlock_sockets()
-        if trigger_empty_recv:
-          self.rc.unlock_sockets()
+        self.rc.wait_for_next_recv(trigger_empty_recv)
+
+        for socket in self.sockets:
+          ms = messaging.drain_sock(socket)
+          for m in ms:
+            m = m.as_builder()
+            m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
+            output_msgs.append(m.as_reader())
         self.cnt += 1
     assert self.process.proc.is_alive()
 
@@ -317,7 +320,7 @@ class ProcessContainer:
 def card_fingerprint_callback(rc, pm, msgs, fingerprint):
   print("start fingerprinting")
   params = Params()
-  canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))
+  canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
 
   # card expects one arbitrary can and pandaState
   rc.send_sync(pm, "can", messaging.new_message("can", 1))
@@ -342,27 +345,36 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     CP = CarInterface.get_non_essential_params(fingerprint)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
   else:
-    can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can")
+    can = DummySocket()
+    sendcan = DummySocket()
+
+    canmsgs = [msg for msg in msgs if msg.which() == "can"]
     cached_params_raw = params.get("CarParamsCache")
-    assert next(can_msgs, None), "CAN messages are required for fingerprinting"
-    assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \
+    has_cached_cp = cached_params_raw is not None
+    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
             "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
 
-    def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
-      return [next(can_msgs, [])]
+    for m in canmsgs[:300]:
+      can.send(m.as_builder().to_bytes())
+    can_callbacks = can_comm_callbacks(can, sendcan)
 
     cached_params = None
-    if cached_params_raw is not None:
+    if has_cached_cp:
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    _CI = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
+    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
   params.put("CarParams", CP.to_bytes())
   params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
 
 
+def selfdrived_rcv_callback(msg, cfg, frame):
+  return (frame - 1) == 0 or msg.which() == 'carState'
+
+
 def card_rcv_callback(msg, cfg, frame):
   # no sendcan until card is initialized
   if msg.which() != "can":
@@ -377,6 +389,21 @@ def card_rcv_callback(msg, cfg, frame):
   return len(socks) > 0
 
 
+def calibration_rcv_callback(msg, cfg, frame):
+  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
+  # should_recv always true to increment frame
+  return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
+
+
+def torqued_rcv_callback(msg, cfg, frame):
+  # should_recv always true to increment frame
+  return (frame - 1) == 0 or msg.which() == 'livePose'
+
+
+def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
+  return msg.which() == "driverCameraState"
+
+
 class ModeldCameraSyncRcvCallback:
   def __init__(self):
     self.road_present = False
@@ -401,13 +428,26 @@ class ModeldCameraSyncRcvCallback:
 
 
 class MessageBasedRcvCallback:
-  def __init__(self, trigger_msg_type: str, first_frame: bool = False):
+  def __init__(self, trigger_msg_type):
     self.trigger_msg_type = trigger_msg_type
-    self.first_frame = first_frame
 
   def __call__(self, msg, cfg, frame):
-    # publish on first frame or trigger msg
-    return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type
+    return msg.which() == self.trigger_msg_type
+
+
+class FrequencyBasedRcvCallback:
+  def __init__(self, trigger_msg_type):
+    self.trigger_msg_type = trigger_msg_type
+
+  def __call__(self, msg, cfg, frame):
+    if msg.which() != self.trigger_msg_type:
+      return False
+
+    resp_sockets = [
+      s for s in cfg.subs
+      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
+    ]
+    return bool(len(resp_sockets))
 
 
 def selfdrived_config_callback(params, cfg, lr):
@@ -422,16 +462,16 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
-      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
-      "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
-      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
+      "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
+      "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
+      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
     config_callback=selfdrived_config_callback,
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("carState", True),
+    should_recv_callback=selfdrived_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
@@ -456,7 +496,6 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
     main_pub="can",
-    main_pub_drained=True,
   ),
   ProcessConfig(
     proc_name="radard",
@@ -464,7 +503,7 @@ CONFIGS = [
     subs=["radarState"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("modelV2"),
+    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
   ),
   ProcessConfig(
     proc_name="plannerd",
@@ -472,7 +511,7 @@ CONFIGS = [
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("modelV2"),
+    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -481,14 +520,14 @@ CONFIGS = [
     subs=["liveCalibration"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
+    should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
     pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime"],
-    should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
+    should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -500,6 +539,7 @@ CONFIGS = [
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
+    unlocked_pubs=["accelerometer", "gyroscope"],
   ),
   ProcessConfig(
     proc_name="paramsd",
@@ -507,7 +547,7 @@ CONFIGS = [
     subs=["liveParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
@@ -532,7 +572,7 @@ CONFIGS = [
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose", True),
+    should_recv_callback=torqued_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -544,6 +584,7 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
+    main_pub_drained=False,
     vision_pubs=["roadCameraState", "wideRoadCameraState"],
     ignore_alive_pubs=["wideRoadCameraState"],
     init_callback=get_car_params_callback,
@@ -553,10 +594,11 @@ CONFIGS = [
     pubs=["liveCalibration", "driverCameraState"],
     subs=["driverStateV2"],
     ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
+    should_recv_callback=dmonitoringmodeld_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
+    main_pub_drained=False,
     vision_pubs=["driverCameraState"],
     ignore_alive_pubs=["driverCameraState"],
   ),
@@ -664,8 +706,8 @@ def _replay_multi_process(
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   log_msgs = []
-  containers = []
   try:
+    containers = []
     for cfg in cfgs:
       container = ProcessContainer(cfg)
       containers.append(container)
@@ -700,11 +742,6 @@ def _replay_multi_process(
             internal_pub_queue.append(m)
             heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
         log_msgs.extend(output_msgs)
-
-    # flush last set of messages from each process
-    for container in containers:
-      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
-      log_msgs.extend(container.get_output_msgs(last_time))
   finally:
     for container in containers:
       container.stop()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
+c289a0359d1b1f26cf4d9e73a2c04b2bbfec840f

selfdrive/test/setup_device_ci.sh

@@ -54,7 +54,6 @@ while true; do
   #  /data/ciui.py &
   #fi
 
-  awk '{print \$1}' /proc/uptime > /var/tmp/power_watchdog
   sleep 5s
 done
 

selfdrive/test/test_onroad.py

@@ -55,7 +55,6 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
-  "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,
   "system.logmessaged": 1.0,

selfdrive/ui/SConscript

@@ -70,8 +70,14 @@ if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
-  # build installers
+  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
+
+  # setup
+  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
+                 LIBS=qt_libs + ['curl', 'common'])
+
   if arch != "Darwin":
+    # build installers
     raylib_env = env.Clone()
     raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
     raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
@@ -103,3 +109,7 @@ if GetOption('extras'):
       f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
       assert f[0].get_size() < 1900*1e3, f[0].get_size()
+
+# build watch3
+if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])

selfdrive/ui/feedback/feedbackd.py

@@ -1,71 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from cereal import car
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-
-FEEDBACK_MAX_DURATION = 10.0
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-def main():
-  params = Params()
-  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
-  should_record_audio = False
-  block_num = 0
-  waiting_for_release = False
-  early_stop_triggered = False
-
-  while True:
-    sm.update()
-    should_send_bookmark = False
-
-    # only allow the LKAS button to record feedback when MADS is disabled
-    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
-      for be in sm['carState'].buttonEvents:
-        if be.type == ButtonType.lkas:
-          if be.pressed:
-            if not should_record_audio:
-              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
-                should_record_audio = True
-                block_num = 0
-                waiting_for_release = False
-                early_stop_triggered = False
-                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
-              else:
-                should_send_bookmark = True  # immediately send bookmark if toggle false
-                cloudlog.info("LKAS button pressed - bookmarking")
-            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
-              waiting_for_release = True
-          elif waiting_for_release:  # Second press released
-            waiting_for_release = False
-            early_stop_triggered = True
-            cloudlog.info("LKAS button released - ending recording early")
-
-    if should_record_audio and sm.updated['rawAudioData']:
-      raw_audio = sm['rawAudioData']
-      msg = messaging.new_message('audioFeedback', valid=True)
-      msg.audioFeedback.audio.data = raw_audio.data
-      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
-      msg.audioFeedback.blockNum = block_num
-      block_num += 1
-      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
-        should_send_bookmark = True  # send bookmark at end of audio segment
-        should_record_audio = False
-        early_stop_triggered = False
-        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
-      pm.send('audioFeedback', msg)
-
-    if sm.updated['bookmarkButton']:
-      cloudlog.info("Bookmark button pressed!")
-      should_send_bookmark = True
-
-    if should_send_bookmark:
-      msg = messaging.new_message('userBookmark', valid=True)
-      pm.send('userBookmark', msg)
-
-
-if __name__ == '__main__':
-  main()

selfdrive/ui/layouts/main.py

@@ -19,7 +19,7 @@ class MainLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._pm = messaging.PubMaster(['bookmarkButton'])
+    self._pm = messaging.PubMaster(['userFlag'])
 
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
@@ -40,7 +40,7 @@ class MainLayout(Widget):
 
   def _setup_callbacks(self):
     self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
-                                on_flag=self._on_bookmark_clicked)
+                                on_flag=self._on_flag_clicked)
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
     self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
@@ -76,10 +76,10 @@ class MainLayout(Widget):
   def _on_settings_clicked(self):
     self.open_settings(PanelType.DEVICE)
 
-  def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
+  def _on_flag_clicked(self):
+    user_flag = messaging.new_message('userFlag')
+    user_flag.valid = True
+    self._pm.send('userFlag', user_flag)
 
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)

selfdrive/ui/layouts/settings/settings.py

@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.WHITE
+TEXT_SELECTED = rl.Color(255, 255, 255, 255)
 
 
 class PanelType(IntEnum):

selfdrive/ui/layouts/settings/toggles.py

@@ -23,10 +23,6 @@ DESCRIPTIONS = {
   'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
   "IsMetric": "Display speed in km/h instead of mph.",
   "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
-  "RecordAudioFeedback": (
-    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
-    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
-  ),
 }
 
 
@@ -85,12 +81,6 @@ class TogglesLayout(Widget):
         self._params.get_bool("RecordAudio"),
         icon="microphone.png",
       ),
-      toggle_item(
-        "Record Audio Feedback with LKAS button",
-        DESCRIPTIONS["RecordAudioFeedback"],
-        self._params.get_bool("RecordAudioFeedback"),
-        icon="microphone.png",
-      ),
       toggle_item(
         "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
       ),

selfdrive/ui/layouts/sidebar.py

@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.WHITE
+  WHITE = rl.Color(255, 255, 255, 255)
   WHITE_DIM = rl.Color(255, 255, 255, 85)
   GRAY = rl.Color(84, 84, 84, 255)
 
   # Status colors
-  GOOD = rl.WHITE
+  GOOD = rl.Color(255, 255, 255, 255)
   WARNING = rl.Color(218, 202, 37, 255)
   DANGER = rl.Color(201, 34, 49, 255)
 
   # UI elements
   METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.WHITE
+  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
 
@@ -146,7 +146,7 @@ class Sidebar(Widget):
 
   def _draw_buttons(self, rect: rl.Rectangle):
     mouse_pos = rl.get_mouse_position()
-    mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
+    mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
 
     # Settings button
     settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)

selfdrive/ui/onroad/cameraview.py

@@ -141,9 +141,6 @@ class CameraView(Widget):
 
     self.client = None
 
-  def __del__(self):
-    self.close()
-
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     if not self.frame:
       return np.eye(3)
@@ -340,7 +337,16 @@ class CameraView(Widget):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("camera view")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  for _ in gui_app.render():
-    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  gui_app.init_window("watch3")
+  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  try:
+    for _ in gui_app.render():
+      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+  finally:
+    road_camera_view.close()
+    driver_camera_view.close()
+    wide_road_camera_view.close()

selfdrive/ui/onroad/exp_button.py

@@ -50,7 +50,7 @@ class ExpButton(Widget):
     center_y = int(self._rect.y + self._rect.height // 2)
 
     mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
-    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
+    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
     self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel

selfdrive/ui/onroad/hud_renderer.py

@@ -1,6 +1,6 @@
 import pyray as rl
 from dataclasses import dataclass
-from openpilot.common.constants import CV
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
@@ -34,7 +34,7 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
+  white: rl.Color = rl.Color(255, 255, 255, 255)
   disengaged: rl.Color = rl.Color(145, 155, 149, 255)
   override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
   engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
   white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
   border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
   header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
 
 
 UI_CONFIG = UIConfig()

selfdrive/ui/qt/offroad/settings.cc

@@ -75,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/microphone.png",
       true,
     },
-    {
-      "RecordAudioFeedback",
-      tr("Record Audio Feedback with LKAS button"),
-      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
-      "../assets/icons/microphone.png",
-      false,
-    },
     {
       "IsMetric",
       tr("Use Metric System"),

selfdrive/ui/qt/python_helpers.py

@@ -0,0 +1,23 @@
+import os
+import platform
+from cffi import FFI
+
+import sip
+
+from openpilot.common.basedir import BASEDIR
+
+def suffix():
+  return ".dylib" if platform.system() == "Darwin" else ".so"
+
+
+def get_ffi():
+  lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
+
+  ffi = FFI()
+  ffi.cdef("void set_main_window(void *w);")
+  return ffi, ffi.dlopen(lib)
+
+
+def set_main_window(widget):
+  ffi, lib = get_ffi()
+  lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))

selfdrive/ui/qt/setup/setup.cc

@@ -0,0 +1,541 @@
+#include "selfdrive/ui/qt/setup/setup.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <sstream>
+#include <string>
+
+#include <QApplication>
+#include <QLabel>
+#include <QVBoxLayout>
+
+#include <curl/curl.h>
+
+#include "common/util.h"
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+
+const std::string USER_AGENT = "AGNOSSetup-";
+const QString OPENPILOT_URL = "https://openpilot.comma.ai";
+
+bool is_elf(char *fname) {
+  FILE *fp = fopen(fname, "rb");
+  if (fp == NULL) {
+    return false;
+  }
+  char buf[4];
+  size_t n = fread(buf, 1, 4, fp);
+  fclose(fp);
+  return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
+}
+
+void Setup::download(QString url) {
+  // autocomplete incomplete urls
+  if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
+    url.prepend("https://installer.comma.ai/");
+  }
+
+  CURL *curl = curl_easy_init();
+  if (!curl) {
+    emit finished(url, tr("Something went wrong. Reboot the device."));
+    return;
+  }
+
+  auto version = util::read_file("/VERSION");
+
+  struct curl_slist *list = NULL;
+  std::string header = "X-openpilot-serial: " + Hardware::get_serial();
+  list = curl_slist_append(list, header.c_str());
+
+  char tmpfile[] = "/tmp/installer_XXXXXX";
+  FILE *fp = fdopen(mkstemp(tmpfile), "wb");
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
+  curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
+  curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
+  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
+  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
+
+  int ret = curl_easy_perform(curl);
+  long res_status = 0;
+  curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
+
+  if (ret != CURLE_OK || res_status != 200) {
+    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
+  } else if (!is_elf(tmpfile)) {
+    emit finished(url, tr("No custom software found at this URL."));
+  } else {
+    rename(tmpfile, "/tmp/installer");
+
+    FILE *fp_url = fopen("/tmp/installer_url", "w");
+    fprintf(fp_url, "%s", url.toStdString().c_str());
+    fclose(fp_url);
+
+    emit finished(url);
+  }
+
+  curl_slist_free_all(list);
+  curl_easy_cleanup(curl);
+  fclose(fp);
+}
+
+QWidget * Setup::low_voltage() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 0, 55, 55);
+  main_layout->setSpacing(0);
+
+  // inner text layout: warning icon, title, and body
+  QVBoxLayout *inner_layout = new QVBoxLayout();
+  inner_layout->setContentsMargins(110, 144, 365, 0);
+  main_layout->addLayout(inner_layout);
+
+  QLabel *triangle = new QLabel();
+  triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png"));
+  inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
+  inner_layout->addSpacing(80);
+
+  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
+  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
+
+  inner_layout->addSpacing(25);
+
+  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
+  body->setWordWrap(true);
+  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  body->setStyleSheet("font-size: 80px; font-weight: 300;");
+  inner_layout->addWidget(body);
+
+  inner_layout->addStretch();
+
+  // power off + continue buttons
+  QHBoxLayout *blayout = new QHBoxLayout();
+  blayout->setSpacing(50);
+  main_layout->addLayout(blayout, 0);
+
+  QPushButton *poweroff = new QPushButton(tr("Power off"));
+  poweroff->setObjectName("navBtn");
+  blayout->addWidget(poweroff);
+  QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
+    Hardware::poweroff();
+  });
+
+  QPushButton *cont = new QPushButton(tr("Continue"));
+  cont->setObjectName("navBtn");
+  blayout->addWidget(cont);
+  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
+
+  return widget;
+}
+
+QWidget * Setup::custom_software_warning() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 0, 55, 55);
+  main_layout->setSpacing(0);
+
+  QVBoxLayout *inner_layout = new QVBoxLayout();
+  inner_layout->setContentsMargins(110, 110, 300, 0);
+  main_layout->addLayout(inner_layout);
+
+  QLabel *title = new QLabel(tr("WARNING: Custom Software"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
+  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
+
+  inner_layout->addSpacing(25);
+
+  QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later."));
+  body->setWordWrap(true);
+  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  body->setStyleSheet("font-size: 65px; font-weight: 300;");
+  inner_layout->addWidget(body);
+
+  inner_layout->addStretch();
+
+  QHBoxLayout *blayout = new QHBoxLayout();
+  blayout->setSpacing(50);
+  main_layout->addLayout(blayout, 0);
+
+  QPushButton *back = new QPushButton(tr("Back"));
+  back->setObjectName("navBtn");
+  blayout->addWidget(back);
+  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
+
+  QPushButton *cont = new QPushButton(tr("Continue"));
+  cont->setObjectName("navBtn");
+  blayout->addWidget(cont);
+  QObject::connect(cont, &QPushButton::clicked, this, [=]() {
+    QTimer::singleShot(0, [=]() {
+      setCurrentWidget(downloading_widget);
+    });
+    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
+    if (!url.isEmpty()) {
+      QTimer::singleShot(1000, this, [=]() {
+        download(url);
+      });
+    } else {
+      setCurrentWidget(software_selection_widget);
+    }
+  });
+
+  return widget;
+}
+
+QWidget * Setup::getting_started() {
+  QWidget *widget = new QWidget();
+
+  QHBoxLayout *main_layout = new QHBoxLayout(widget);
+  main_layout->setMargin(0);
+
+  QVBoxLayout *vlayout = new QVBoxLayout();
+  vlayout->setContentsMargins(165, 280, 100, 0);
+  main_layout->addLayout(vlayout);
+
+  QLabel *title = new QLabel(tr("Getting Started"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500;");
+  vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
+
+  vlayout->addSpacing(90);
+  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
+  desc->setWordWrap(true);
+  desc->setStyleSheet("font-size: 80px; font-weight: 300;");
+  vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
+
+  vlayout->addStretch();
+
+  QPushButton *btn = new QPushButton();
+  btn->setIcon(QIcon(":/images/button_continue_triangle.svg"));
+  btn->setIconSize(QSize(54, 106));
+  btn->setFixedSize(310, 1080);
+  btn->setProperty("primary", true);
+  btn->setStyleSheet("border: none;");
+  main_layout->addWidget(btn, 0, Qt::AlignRight);
+  QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage);
+
+  return widget;
+}
+
+QWidget * Setup::network_setup() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  // title
+  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+
+  main_layout->addSpacing(25);
+
+  // wifi widget
+  Networking *networking = new Networking(this, false);
+  networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}");
+  main_layout->addWidget(networking, 1);
+
+  main_layout->addSpacing(35);
+
+  // back + continue buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *back = new QPushButton(tr("Back"));
+  back->setObjectName("navBtn");
+  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
+  blayout->addWidget(back);
+
+  QPushButton *cont = new QPushButton();
+  cont->setObjectName("navBtn");
+  cont->setProperty("primary", true);
+  cont->setEnabled(false);
+  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
+  blayout->addWidget(cont);
+
+  // setup timer for testing internet connection
+  HttpRequest *request = new HttpRequest(this, false, 2500);
+  QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
+    cont->setEnabled(success);
+    if (success) {
+      const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
+      cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
+    } else {
+      cont->setText(tr("Waiting for internet"));
+    }
+    repaint();
+  });
+  request->sendRequest(OPENPILOT_URL);
+  QTimer *timer = new QTimer(this);
+  QObject::connect(timer, &QTimer::timeout, [=]() {
+    if (!request->active() && cont->isVisible()) {
+      request->sendRequest(OPENPILOT_URL);
+    }
+  });
+  timer->start(1000);
+
+  return widget;
+}
+
+QWidget * radio_button(QString title, QButtonGroup *group) {
+  QPushButton *btn = new QPushButton(title);
+  btn->setCheckable(true);
+  group->addButton(btn);
+  btn->setStyleSheet(R"(
+    QPushButton {
+      height: 230;
+      padding-left: 100px;
+      padding-right: 100px;
+      text-align: left;
+      font-size: 80px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+    QPushButton:checked {
+      background-color: #465BEA;
+    }
+  )");
+
+  // checkmark icon
+  QPixmap pix(":/icons/circled_check.svg");
+  btn->setIcon(pix);
+  btn->setIconSize(QSize(0, 0));
+  btn->setLayoutDirection(Qt::RightToLeft);
+  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
+    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
+  });
+  return btn;
+}
+
+QWidget * Setup::software_selection() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+  main_layout->setSpacing(0);
+
+  // title
+  QLabel *title = new QLabel(tr("Choose Software to Install"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+
+  main_layout->addSpacing(50);
+
+  // sunnypilot + custom radio buttons
+  QButtonGroup *group = new QButtonGroup(widget);
+  group->setExclusive(true);
+
+  QWidget *openpilot = radio_button(tr("sunnypilot"), group);
+  main_layout->addWidget(openpilot);
+
+  main_layout->addSpacing(30);
+
+  QWidget *custom = radio_button(tr("Custom Software"), group);
+  main_layout->addWidget(custom);
+
+  main_layout->addStretch();
+
+  // back + continue buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *back = new QPushButton(tr("Back"));
+  back->setObjectName("navBtn");
+  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
+  blayout->addWidget(back);
+
+  QPushButton *cont = new QPushButton(tr("Continue"));
+  cont->setObjectName("navBtn");
+  cont->setEnabled(false);
+  cont->setProperty("primary", true);
+  blayout->addWidget(cont);
+
+  QObject::connect(cont, &QPushButton::clicked, [=]() {
+    if (group->checkedButton() != openpilot) {
+      QTimer::singleShot(0, [=]() {
+        setCurrentWidget(custom_software_warning_widget);
+      });
+    } else {
+      QTimer::singleShot(0, [=]() {
+        setCurrentWidget(downloading_widget);
+      });
+      QTimer::singleShot(1000, this, [=]() {
+        download(OPENPILOT_URL);
+      });
+    }
+  });
+
+  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
+    btn->setChecked(true);
+    cont->setEnabled(true);
+  });
+
+  return widget;
+}
+
+QWidget * Setup::downloading() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  QLabel *txt = new QLabel(tr("Downloading..."));
+  txt->setStyleSheet("font-size: 90px; font-weight: 500;");
+  main_layout->addWidget(txt, 0, Qt::AlignCenter);
+  return widget;
+}
+
+QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 185, 55, 55);
+  main_layout->setSpacing(0);
+
+  QLabel *title = new QLabel(tr("Download Failed"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
+
+  main_layout->addSpacing(67);
+
+  url->setWordWrap(true);
+  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
+  main_layout->addWidget(url);
+
+  main_layout->addSpacing(48);
+
+  body->setWordWrap(true);
+  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
+  main_layout->addWidget(body);
+
+  main_layout->addStretch();
+
+  // reboot + start over buttons
+  QHBoxLayout *blayout = new QHBoxLayout();
+  blayout->setSpacing(50);
+  main_layout->addLayout(blayout, 0);
+
+  QPushButton *reboot = new QPushButton(tr("Reboot device"));
+  reboot->setObjectName("navBtn");
+  blayout->addWidget(reboot);
+  QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
+    Hardware::reboot();
+  });
+
+  QPushButton *restart = new QPushButton(tr("Start over"));
+  restart->setObjectName("navBtn");
+  restart->setProperty("primary", true);
+  blayout->addWidget(restart);
+  QObject::connect(restart, &QPushButton::clicked, this, [=]() {
+    setCurrentIndex(1);
+  });
+
+  widget->setStyleSheet(R"(
+    QLabel {
+      margin-left: 117;
+    }
+  )");
+  return widget;
+}
+
+void Setup::prevPage() {
+  setCurrentIndex(currentIndex() - 1);
+}
+
+void Setup::nextPage() {
+  setCurrentIndex(currentIndex() + 1);
+}
+
+Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
+  if (std::getenv("MULTILANG")) {
+    selectLanguage();
+  }
+
+  std::stringstream buffer;
+  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
+  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
+  if (voltage < 7) {
+    addWidget(low_voltage());
+  }
+
+  addWidget(getting_started());
+  addWidget(network_setup());
+  software_selection_widget = software_selection();
+  addWidget(software_selection_widget);
+  custom_software_warning_widget = custom_software_warning();
+  addWidget(custom_software_warning_widget);
+  downloading_widget = downloading();
+  addWidget(downloading_widget);
+
+  QLabel *url_label = new QLabel();
+  QLabel *body_label = new QLabel();
+  failed_widget = download_failed(url_label, body_label);
+  addWidget(failed_widget);
+
+  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
+    qDebug() << "finished" << url << error;
+    if (error.isEmpty()) {
+      // hide setup on success
+      QTimer::singleShot(3000, this, &QWidget::hide);
+    } else {
+      url_label->setText(url);
+      body_label->setText(error);
+      setCurrentWidget(failed_widget);
+    }
+  });
+
+  // TODO: revisit pressed bg color
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-family: Inter;
+    }
+    Setup {
+      background-color: black;
+    }
+    QPushButton#navBtn {
+      height: 160;
+      font-size: 55px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #333333;
+    }
+    QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled {
+      color: #808080;
+      background-color: #333333;
+    }
+    QPushButton#navBtn:pressed {
+      background-color: #444444;
+    }
+    QPushButton[primary='true'], #navBtn[primary='true'] {
+      background-color: #465BEA;
+    }
+    QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] {
+      background-color: #3049F4;
+    }
+  )");
+}
+
+void Setup::selectLanguage() {
+  QMap<QString, QString> langs = getSupportedLanguages();
+  QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this);
+  if (!selection.isEmpty()) {
+    QString selectedLang = langs[selection];
+    Params().put("LanguageSetting", selectedLang.toStdString());
+    if (translator.load(":/" + selectedLang)) {
+      qApp->installTranslator(&translator);
+    }
+  }
+}
+
+int main(int argc, char *argv[]) {
+  QApplication a(argc, argv);
+  Setup setup;
+  setMainWindow(&setup);
+  return a.exec();
+}

selfdrive/ui/qt/setup/setup.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <QLabel>
+#include <QStackedWidget>
+#include <QString>
+#include <QTranslator>
+#include <QWidget>
+
+class Setup : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  explicit Setup(QWidget *parent = 0);
+
+private:
+  void selectLanguage();
+  QWidget *low_voltage();
+  QWidget *custom_software_warning();
+  QWidget *getting_started();
+  QWidget *network_setup();
+  QWidget *software_selection();
+  QWidget *downloading();
+  QWidget *download_failed(QLabel *url, QLabel *body);
+
+  QWidget *failed_widget;
+  QWidget *downloading_widget;
+  QWidget *custom_software_warning_widget;
+  QWidget *software_selection_widget;
+  QTranslator translator;
+
+signals:
+  void finished(const QString &url, const QString &error = "");
+
+public slots:
+  void nextPage();
+  void prevPage();
+  void download(QString url);
+};

selfdrive/ui/qt/sidebar.cc

@@ -29,7 +29,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
   mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
-  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -39,7 +38,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
 
-  pm = std::make_unique<PubMaster>(std::vector<const char*>{"bookmarkButton"});
+  pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -62,8 +61,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
   }
   if (onroad && home_btn.contains(event->pos())) {
     MessageBuilder msg;
-    msg.initEvent().initBookmarkButton();
-    pm->send("bookmarkButton", msg);
+    msg.initEvent().initUserFlag();
+    pm->send("userFlag", msg);
   } else if (settings_btn.contains(event->pos())) {
     emit openSettings();
   } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
@@ -155,12 +154,7 @@ void Sidebar::drawSidebar(QPainter &p) {
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(58, 247, width() - 100, 50);
-
-  if (net_type == "Hotspot") {
-    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
-  } else {
-    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
-  }
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
 #ifndef SUNNYPILOT
   // metrics

selfdrive/ui/qt/sidebar.h

@@ -43,7 +43,7 @@ protected:
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
   virtual void drawSidebar(QPainter &p);
 
-  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
+  QPixmap home_img, flag_img, settings_img, mic_img;
   bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc

@@ -47,17 +47,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   addItem(errorLogBtn);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
-
-  is_release = params.getBool("IsReleaseBranch");
-  is_tested = params.getBool("IsTestedBranch");
-  is_development = params.getBool("IsDevelopmentBranch");
 }
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
+  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
   bool disable_updates = params.getBool("DisableUpdates");
 
   prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
   prebuiltToggle->setEnabled(disable_updates);
+
   params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
   prebuiltToggle->refresh();
 
@@ -66,7 +66,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
          "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
          "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
     : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
-  prebuiltToggle->showDescription();
 
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
@@ -75,6 +74,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
   DeveloperPanel::showEvent(event);
-  AbstractControlSP::UpdateAllAdvancedControls();
   updateToggles(!uiState()->scene.started);
+  AbstractControlSP::UpdateAllAdvancedControls();
+  prebuiltToggle->showDescription();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h

@@ -21,9 +21,6 @@ private:
   ParamControlSP *prebuiltToggle;
   Params params;
   ParamControlSP *showAdvancedControls;
-  bool is_development;
-  bool is_release;
-  bool is_tested;
 
 private slots:
   void updateToggles(bool offroad);

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+  if (timeoutValue == "0") {
     interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -68,14 +68,6 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
 
-  refreshAvailableModelsBtn = new ButtonControlSP(tr("Refresh Model List"), tr("REFRESH"), "", this);
-  connect(refreshAvailableModelsBtn, &ButtonControlSP::clicked, this, [=]() {
-    params.put("ModelManager_LastSyncTime", "0");
-    ConfirmationDialog::alert(tr("Fetching Latest Models"), this);
-  });
-
-  list->addItem(refreshAvailableModelsBtn);
-
   clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
   connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);
 
@@ -110,23 +102,10 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(lagd_toggle_control);
 
   // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
                                         "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+                                     "", {5, 30}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -380,38 +359,11 @@ void ModelsPanel::updateLabels() {
 
   // Update lagdToggle description with current value
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
-                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
-  bool lagdEnabled = params.getBool("LagdToggle");
-  if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
-    if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
-    }
-  } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
-    if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
-      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-      float totalLag = steerDelay + softwareDelay;
-      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
-                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
-    }
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
+                   "The Current value is updated automatically when the vehicle is Onroad.");
+  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
+  if (!current.isEmpty()) {
+    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
   }
   lagd_toggle_control->setDescription(desc);
 

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -79,6 +79,5 @@ private:
   QFrame *policyFrame;
   Params params;
   ButtonControlSP *clearModelCacheBtn;
-  ButtonControlSP *refreshAvailableModelsBtn;
 
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc

@@ -66,14 +66,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
   list->addItem(horizontal_line());
 
-  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
-  sunnylinkUploaderEnabledBtn = new ParamControlSP(
-    "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
-    sunnylinkUploaderDesc,
-    "", nullptr, true);
-  list->addItem(sunnylinkUploaderEnabledBtn);
-
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -269,8 +261,6 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
-
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h

@@ -49,7 +49,6 @@ private:
   QString sunnylinkBtnDescription;
   PushButtonSP *restoreSettings;
   PushButtonSP *backupSettings;
-  ParamControlSP * sunnylinkUploaderEnabledBtn;
 
   void stopSunnylink() const;
   void startSunnylink() const;

selfdrive/ui/tests/test_feedbackd.py

@@ -1,52 +0,0 @@
-import pytest
-import cereal.messaging as messaging
-from cereal import car
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestFeedbackd:
-  def setup_method(self):
-    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
-    self.sm = messaging.SubMaster(['audioFeedback'])
-
-  def _send_lkas_button(self, pressed: bool):
-    msg = messaging.new_message('carState')
-    msg.carState.canValid = True
-    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
-    self.pm.send('carState', msg)
-
-  def _send_audio_data(self, count: int = 5):
-    for _ in range(count):
-      audio_msg = messaging.new_message('rawAudioData')
-      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
-      audio_msg.rawAudioData.sampleRate = 16000
-      self.pm.send('rawAudioData', audio_msg)
-      self.sm.update(timeout=100)
-
-  @pytest.mark.parametrize("record_feedback", [False, True])
-  def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback)
-
-    managed_processes["feedbackd"].start()
-    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
-    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    if record_feedback:
-      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
-    else:
-      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
-
-    managed_processes["feedbackd"].stop()

selfdrive/ui/tests/test_raylib_ui.py

@@ -1,8 +0,0 @@
-import time
-from openpilot.selfdrive.test.helpers import with_processes
-
-
-@with_processes(["raylib_ui"])
-def test_raylib_ui():
-  """Test initialization of the UI widgets is successful."""
-  time.sleep(1)

selfdrive/ui/tests/test_ui/run.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import capnp
+import json
 import pathlib
 import shutil
 import sys
@@ -264,12 +265,12 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   time.sleep(UI_DELAY)
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
-  Params().put("CarPlatformBundle",
+  Params().put("CarPlatformBundle", json.dumps(
     {
       "platform": "HONDA_CIVIC_2022",
       "name": "Honda Civic 2022-24"
     }
-  )
+  ))
 
   setup_settings_device(click, pm)
   scroll(-400, 278, 962)