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

# Conflicts:
#	opendbc_repo

.codespellignore

@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO

.gitattributes

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

.github/pull_request_template.md

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

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

@@ -7,6 +7,19 @@ on:
         description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
         required: true
         type: string
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: true
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - usbgpu
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
 
 jobs:
   setup:
@@ -46,13 +59,14 @@ jobs:
         id: get-json
         run: |
           cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
+          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
           next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
+          json_file="${PREFIX}${next}.json"
+          cp "${PREFIX}${latest}.json" "$json_file"
           echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
           echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
 
       - name: Extract tinygrad models
         id: set-matrix
@@ -61,45 +75,23 @@ jobs:
           jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
           echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
 
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
+      - name: Get next recompiled dir number
         id: create-recompiled-dir
         env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+          HF_REPO: ${{ github.event.inputs.hf_repo }}
         run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
+          pip install huggingface_hub
+          recompiled_dir=$(python3 -c "
+          from huggingface_hub import HfApi
+          import re, sys
+          api = HfApi()
+          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
+          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
+          nums = [int(m.group(1)) for m in dirs if m]
+          print(max(nums) + 1)
+          " "$HF_REPO")
           echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
 
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
       - name: Push new JSON to GitHub docs repo
         run: |
           cd docs
@@ -123,25 +115,30 @@ jobs:
       is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
 
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
       - uses: actions/download-artifact@v4
         with:
-          pattern: model-*
+          pattern: artifact-name-*
           path: output
+        continue-on-error: true
 
       - id: set-retry-matrix
         run: |
           echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
           )
           jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
             'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -149,7 +146,7 @@ jobs:
 
   retry_get_and_build:
     needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
     strategy:
       matrix:
         model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
@@ -161,146 +158,9 @@ jobs:
       is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
       artifact_suffix: -retry
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ 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" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

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

@@ -29,11 +29,24 @@ on:
         required: false
         type: boolean
         default: true
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
         required: false
-        default: true
-        type: boolean
+        type: string
+        default: 'qcom'
+      hf_repo:
+        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
+      set_min_version:
+        description: 'Minimum selector version'
+        required: false
+        type: string
+      tinygrad_ref:
+        description: 'Tinygrad reference'
+        required: false
+        type: string
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -65,8 +78,8 @@ on:
           - None
           - Master Models
           - Release Models
-          - 2025 World Models
           - 2026 World Models
+          - 2026 Deep RL Models
           - Custom Merge Models
           - Other
       custom_model_folder:
@@ -81,9 +94,22 @@ on:
         description: 'Minimum selector version'
         required: false
         type: string
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: false
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - usbgpu
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json
 
 jobs:
   build_model:
@@ -93,38 +119,20 @@ jobs:
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
       is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
+      target_hardware: ${{ inputs.target_hardware }}
     secrets: inherit
 
   publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
+    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
     concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
+      group: hf-push-${{ inputs.recompiled_dir }}
       cancel-in-progress: false
     needs: build_model
     runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: write
     steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
@@ -133,16 +141,28 @@ jobs:
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
 
-      - name: Validate recompiled dir and JSON version
+      - name: Install huggingface_hub
+        run: pip install --upgrade "huggingface_hub>=0.22.0"
+
+      - name: Validate hf_repo and JSON version
+        env:
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
         run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
           if [ ! -f "$JSON_FILE" ]; then
             echo "JSON file $JSON_FILE does not exist!"
             exit 1
           fi
+          python3 -c "
+          import sys
+          from huggingface_hub import HfApi
+          try:
+              api = HfApi()
+              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
+              print(f'Success: Repo {sys.argv[1]} exists.')
+          except Exception as e:
+              print('HF validation failed:', e)
+              sys.exit(1)
+          " "${{ inputs.hf_repo }}"
 
       - name: Download artifact name file
         uses: actions/download-artifact@v4
@@ -162,49 +182,26 @@ jobs:
           name: ${{ steps.read-artifact-name.outputs.artifact_name }}
           path: output
 
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
+      - name: Create models folder
         env:
           ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
+          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
 
-      - name: Push recompiled dir to GitLab
+      - name: Upload to Hugging Face
         env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
+          hf upload ${{ inputs.hf_repo }} \
+            output/ \
+            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
+            --repo-type=dataset
 
-      - run: |
+      - name: Pull gh-pages
+        run: |
           cd docs
           git pull origin gh-pages
 
@@ -220,9 +217,11 @@ jobs:
           fi
           [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
           [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --recompiled-dir "local_models/$RECOMPILED_DIR" \
             --sort-by-date \
             $ARGS
 

.github/workflows/diff_report.yaml

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

.github/workflows/docs.yaml

@@ -15,6 +15,11 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   docs:
     name: build docs
@@ -30,8 +35,7 @@ jobs:
     - name: Build docs
       run: |
         git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        python docs/serve.py --build
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v7
@@ -52,7 +56,7 @@ jobs:
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs_site/ docs/
+        cp -r ../docs/_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll

.github/workflows/model_review.yaml

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

.github/workflows/release.yaml

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

.github/workflows/repo-maintenance.yaml

@@ -9,6 +9,9 @@ on:
 
 env:
   PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   package_updates:
@@ -81,7 +84,7 @@ jobs:
         labels: bot
 
   cleanup_closed_branches:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
     runs-on: ubuntu-latest
     permissions:
       contents: write

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

@@ -80,6 +80,7 @@ jobs:
         with:
           repository: commaai/openpilot
           ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
           submodules: recursive
           path: openpilot
 
@@ -89,18 +90,25 @@ jobs:
         with:
           repository: sunnypilot/sunnypilot
           ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
           submodules: recursive
           path: openpilot
       - name: Get commit date
         id: commit-date
         run: |
-          cd ${{ github.workspace }}/openpilot
+          cd ${{ github.workspace }}/openpilot/openpilot
           commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
           echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
       - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
+          cd ${{ github.workspace }}/openpilot/openpilot
+          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
+            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
+            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
+          else
+            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
+            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
+          fi
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
@@ -116,24 +124,10 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          fetch-depth: 1
           submodules: recursive
 
       - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables
         id: set-env
@@ -144,7 +138,7 @@ jobs:
           export UV_PYTHON_PREFERENCE=managed
           export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          uv sync
+          uv sync --frozen
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -173,8 +167,6 @@ jobs:
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ env.MODELS_DIR }}
-      - run: |
-          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
@@ -191,7 +183,7 @@ jobs:
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
-            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
@@ -254,10 +246,8 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.pkl' \
             --include='*.chunk*' \
             --include='*.chunkmanifest' \
-            --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \

.github/workflows/tests.yaml

@@ -20,7 +20,9 @@ concurrency:
 env:
   CI: 1
   PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   build_release:
@@ -125,10 +127,7 @@ jobs:
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
       env:
         RAYLIB_BACKEND: headless
-      run: |
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
+      run: tools/op.sh test
 
   process_replay:
     name: process replay
@@ -193,12 +192,6 @@ jobs:
         timeout_minutes: 2
         max_attempts: 3
         command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py
 
   simulator_driving:
     name: simulator driving
@@ -219,7 +212,7 @@ jobs:
       env:
         # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
         EGL_PLATFORM: surfaceless
-      run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
+      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report

.gitignore

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

.idea/customTargets.xml

@@ -21,5 +21,12 @@
         </clean>
       </configuration>
     </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,4 +20,11 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>

.run/Replay for controls + ui.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>

.run/replay for controls.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

Jenkinsfile

@@ -22,6 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
+export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
@@ -30,14 +31,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*
@@ -206,35 +207,35 @@ node {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd openpilot/system/manager && ./build.py"),
           step("check dirty", "tools/release/check-dirty.sh"),
-          step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
-          step("test encoder", "pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
-          step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
           step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
+          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
@@ -246,9 +247,9 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad loopback", "pytest openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest openpilot/common/hardware/tici/tests/test_amplifier.py"),
+          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
         ])
       },
 

RELEASES.md

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

SConstruct

@@ -10,7 +10,7 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
-TICI = os.path.isfile('/TICI')
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
 
 SCons.Warnings.warningAsException(True)
 
@@ -24,7 +24,7 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 submodule_python_paths = [
@@ -46,22 +46,22 @@ if external_pythonpath := os.environ.get("PYTHONPATH"):
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
 # Shared package ships .so/.dylib; older device venvs still have static .a only.
 # Keep static link deps (x264/z/va/drm) when the installed package is static so
-# TICI CI works without upgrading the device venv yet.
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
 # TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
 _ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
 ffmpeg_shared = any(
@@ -129,10 +129,11 @@ env = Environment(
   CCFLAGS=[
     "-g",
     "-fPIC",
+    "-pipe",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -164,24 +165,24 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 # SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
 if arch == "Darwin":
   env["RPATHPREFIX"] = "-Wl,-rpath,"
   env["RPATHSUFFIX"] = ""
   env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
-if arch != "larch64":
+if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
+if arch == "comma_arm64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -233,7 +234,7 @@ Export('envCython', 'np_version')
 Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
@@ -280,7 +281,7 @@ SConscript([
   'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
+if arch == "comma_arm64":
   SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
@@ -295,7 +296,7 @@ SConscript([
 SConscript(['openpilot/sunnypilot/SConscript'])
 
 # Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+if GetOption('extras') and arch != "comma_arm64":
   SConscript([
     'openpilot/tools/replay/SConscript',
     'openpilot/tools/cabana/SConscript',

conftest.py

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

docs/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.
 
-# 342 Supported Cars
+# 345 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -34,6 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -82,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -158,7 +159,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in Hybrid 2024|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -242,20 +243,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -334,6 +335,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||

docs/CONTRIBUTING.md

@@ -61,7 +61,7 @@ A good pull request has all of the following:
 
 * Report bugs in GitHub issues.
 * Report driving issues in the `#driving-feedback` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Consider opting into cabin camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).

docs/DEVELOPMENT.md

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

docs/LIMITATIONS.md

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

docs/README.md

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

docs/assets/comma-logo.png

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

docs/assets/favicon.svg

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

docs/concepts/glossary.md

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

docs/concepts/logs.md

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

docs/contributing/feedback.md

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

docs/ext/glossary.py

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

docs/ext/glossary.toml

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

docs/serve.py

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

docs/stylesheets/extra.css

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

docs/template.html

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

launch_chffrplus.sh

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

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.5"
+  export AGNOS_VERSION="19.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/deprecated.capnp

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

openpilot/cereal/log.capnp

@@ -75,7 +75,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     driverUnresponsive2 @37;
     driverUnresponsive3 @38;
     belowSteerSpeed @39;
-    lowBattery @40;
     accFaulted @41;
     sensorDataInvalid @42;
     commIssue @43;
@@ -107,18 +106,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     noGps @68;
     wrongCruiseMode @69;
     modeldLagging @70;
-    deviceFalling @71;
     fanMalfunction @72;
     cameraMalfunction @73;
     cameraFrameRate @74;
     processNotRunning @75;
     dashcamMode @76;
     selfdriveInitializing @77;
-    usbError @78;
     cruiseMismatch @79;
     canBusMissing @80;
     selfdrivedLagging @81;
     resumeBlocked @82;
+    carNotReady @103;
     steerTimeLimit @83;
     vehicleSensorsInvalid @84;
     locationdTemporaryError @85;
@@ -131,9 +129,15 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     aeb @92;
     userBookmark @95;
     excessiveActuation @96;
-    audioFeedback @97;
+    bigModelLoading @100;
+    bigModelFailed @102;
 
+    lowBatteryDEPRECATED @40;
     soundsUnavailableDEPRECATED @47;
+    deviceFallingDEPRECATED @71;
+    usbErrorDEPRECATED @78;
+    audioFeedbackDEPRECATED @97;
+    bigModelReadyDEPRECATED @101;
   }
 }
 
@@ -176,13 +180,13 @@ struct InitData {
 
   enum DeviceType {
     unknown @0;
-    neo @1;
+    neo @1;   # NEO, EON, & comma two
     chffrAndroid @2;
     chffrIos @3;
-    tici @4;
+    tici @4;  # comma three
     pc @5;
-    tizi @6;
-    mici @7;
+    tizi @6;  # comma 3X
+    mici @7;  # comma four
   }
 
   struct PandaInfo {
@@ -700,9 +704,29 @@ struct UsbState {
     manufacturer @6 :Text;
     product @5 :Text;
     linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
   }
 }
 
+struct ChestnutState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+}
+
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;  # for debugging
   radarErrors @13 :Car.RadarData.Error;
@@ -746,7 +770,7 @@ struct RadarState @0x9a185389d6fdd05f {
   }
 }
 
-struct LiveCalibrationData {
+struct ExtrinsicsCalibration @0x96df70754d8390bc {
   calStatus @11 :Status;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -1026,6 +1050,7 @@ struct ModelDataV2 {
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
   rawPredictions @16 :Data;
+  big @27 :Bool;
 
   # predicted future position, orientation, etc..
   position @4 :XYZTData;
@@ -1366,7 +1391,7 @@ struct LiveLocationKalman {
 }
 
 
-struct LivePose {
+struct DeviceMotion @0xc24ca2b57206b44d {
   # More info on reference frames:
   # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
   orientationNED @0 :XYZMeasurement;
@@ -2248,7 +2273,7 @@ struct Boot {
   }
 }
 
-struct LiveParametersData {
+struct VehicleParameters @0xd9058dcb967c2753 {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffsetDeg @2 :Float32;
@@ -2282,8 +2307,8 @@ struct LiveParametersData {
   }
 }
 
-struct LiveTorqueParametersData {
-  liveValid @0 :Bool;
+struct LateralTorqueParameters @0xe61690eb0b091692 {
+  valid @0 :Bool;
   latAccelFactorRaw @1 :Float32;
   latAccelOffsetRaw @2 :Float32;
   frictionCoefficientRaw @3 :Float32;
@@ -2299,7 +2324,7 @@ struct LiveTorqueParametersData {
   calPerc @13 :Int8;
 }
 
-struct LiveDelayData {
+struct LateralDelay @0x98dfdb22c44df8d4 {
   lateralDelay @0 :Float32;
   validBlocks @1 :Int32;
   status @2 :Status;
@@ -2485,11 +2510,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2522,9 +2542,9 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @131 :Car.RadarData;
+    radarTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
-    liveCalibration @19 :LiveCalibrationData;
+    extrinsicsCalibration @19 :ExtrinsicsCalibration;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
@@ -2535,31 +2555,31 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    liveParameters @61 :LiveParametersData;
-    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
+    vehicleParameters @61 :VehicleParameters;
+    lateralTorqueParameters @94 :LateralTorqueParameters;
+    lateralDelay @146 : LateralDelay;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @151 :DriverMonitoringState;
-    livePose @129 :LivePose;
+    deviceMotion @129 :DeviceMotion;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
-    roadCameraState @2 :FrameData;
-    driverCameraState @70: FrameData;
+    narrowRoadCameraState @2 :FrameData;
+    cabinCameraState @70: FrameData;
     wideRoadCameraState @74: FrameData;
-    roadEncodeIdx @15 :EncodeIndex;
-    driverEncodeIdx @76 :EncodeIndex;
+    narrowRoadEncodeIdx @15 :EncodeIndex;
+    cabinEncodeIdx @76 :EncodeIndex;
     wideRoadEncodeIdx @77 :EncodeIndex;
-    qRoadEncodeIdx @90 :EncodeIndex;
+    qNarrowRoadEncodeIdx @90 :EncodeIndex;
 
-    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamNarrowRoadEncodeIdx @117 :EncodeIndex;
     livestreamWideRoadEncodeIdx @118 :EncodeIndex;
-    livestreamDriverEncodeIdx @119 :EncodeIndex;
+    livestreamCabinEncodeIdx @119 :EncodeIndex;
 
     # microphone data
     soundPressure @103 :SoundPressure;
@@ -2571,6 +2591,7 @@ struct Event {
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
+    chestnutState @152 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
@@ -2583,21 +2604,20 @@ struct Event {
     # driving feedback
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
-    roadEncodeData @86 :EncodeData;
-    driverEncodeData @87 :EncodeData;
+    narrowRoadEncodeData @86 :EncodeData;
+    cabinEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
-    qRoadEncodeData @89 :EncodeData;
+    qNarrowRoadEncodeData @89 :EncodeData;
     alertDebug @133 :DebugAlert;
 
-    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamNarrowRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
-    livestreamDriverEncodeData @122 :EncodeData;
+    livestreamCabinEncodeData @122 :EncodeData;
 
     # *********** Custom: reserved for forks ***********
 
@@ -2633,6 +2653,7 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    audioFeedbackDEPRECATED @149 :Deprecated.AudioFeedbackDEPRECATED;
     liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
     liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;

openpilot/cereal/messaging/tests/test_messaging.py

@@ -4,6 +4,7 @@ import numbers
 import random
 import threading
 import time
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import log
@@ -46,7 +47,7 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging:
+class TestMessaging(OpenpilotTestCase):
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -80,10 +81,11 @@ class TestMessaging:
     assert len(msgs) == 0
 
     # no wait but msgs are queued up
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    assert sub_sock.receive() is not None  # synchronize the PUB/SUB connection
     num_msgs = random.randrange(3, 10)
     for _ in range(num_msgs):
       pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
     msgs = func(sub_sock)
     assert isinstance(msgs, list)
     assert all(isinstance(msg, expected_type) for msg in msgs)
@@ -110,7 +112,7 @@ class TestMessaging:
   def test_recv_one(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
+    sub_sock = messaging.sub_sock(sock, timeout=10)
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -141,7 +143,7 @@ class TestMessaging:
 
   def test_recv_one_retry(self):
     sock = "carState"
-    sock_timeout = 0.1
+    sock_timeout = 0.005
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
 

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -3,13 +3,14 @@ import time
 from typing import cast
 from collections.abc import Sized
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate
 from openpilot.cereal.services import SERVICE_LIST
 
 
-class TestSubMaster:
+class TestSubMaster(OpenpilotTestCase):
 
   def test_init(self):
     sm = messaging.SubMaster(events)
@@ -59,17 +60,17 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
+    timeout = random.randrange(10, 30)
     start_time = time.monotonic()
     sm.update(timeout)
     t = time.monotonic() - start_time
     assert t >= timeout/1000.
-    assert t < 3
+    assert t < 0.1
     assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
+      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "extrinsicsCalibration"],
                                poll=("modelV2" if poll else None),
                                frequency=(20. if not poll else None))
 
@@ -77,7 +78,7 @@ class TestSubMaster:
         "carState": (20, 20),
         "modelV2": (20, 20 if poll else 10),
         "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
+        "extrinsicsCalibration": (4, 4),
         "carParams": (None, None),
         "userBookmark": (None, None),
       }
@@ -97,17 +98,19 @@ class TestSubMaster:
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
 
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    sm.update(1000)  # synchronize the PUB/SUB connection
+
     n = 10
     for i in range(n+1):
       msg = messaging.new_message(sock)
       msg.carState.vEgo = i
       pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
     sm.update(1000)
     assert sm[sock].vEgo == n
 
 
-class TestPubMaster:
+class TestPubMaster(OpenpilotTestCase):
 
   def test_init(self):
     messaging.PubMaster(events)

openpilot/cereal/messaging/tests/test_services.py

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

openpilot/cereal/services.py

@@ -25,6 +25,7 @@ _services: dict[str, tuple] = {
   "accelerometer": (True, 104., 104),
   "temperatureSensor": (True, 2., 200),
   "deviceState": (True, 2., 1),
+  "chestnutState": (True, 10., 10),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -32,14 +33,14 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
+  "narrowRoadEncodeIdx": (False, 20., 1),
+  "radarTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0., None, QueueSize.BIG),
   "errorLogMessage": (True, 0., 1, QueueSize.BIG),
-  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
+  "extrinsicsCalibration": (True, 4., 4),
+  "lateralTorqueParameters": (True, 4., 1),
+  "lateralDelay": (True, 4., 1),
   "operatingSystemLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
@@ -54,15 +55,15 @@ _services: dict[str, tuple] = {
   "qcomGnss": (True, 2.),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveParameters": (True, 20., 5),
+  "deviceMotion": (True, 20., 4),
+  "vehicleParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 1 / 60., 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
+  "narrowRoadCameraState": (True, 20., 20),
+  "cabinCameraState": (True, 20., 20),
+  "cabinEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
@@ -70,16 +71,15 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "qRoadEncodeIdx": (False, 20.),
+  "qNarrowRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "narrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "cabinEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qNarrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1, QueueSize.BIG),
@@ -99,11 +99,11 @@ _services: dict[str, tuple] = {
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
   "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamNarrowRoadEncodeIdx": (False, 20.),
+  "livestreamCabinEncodeIdx": (False, 20.),
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamNarrowRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamCabinEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for

openpilot/cereal/visionipc.py

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

openpilot/cereal/visionstream.h

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

openpilot/common/SConscript

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

openpilot/common/esim/esim.py

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

openpilot/common/esim/lpa.py

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

openpilot/common/fuzzy.py

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

openpilot/common/git.py

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

openpilot/common/hardware/__init__.py

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

openpilot/common/hardware/base.h

@@ -15,7 +15,7 @@ public:
 
   static std::string get_serial() { return "cccccc"; }
 
-  static std::map<std::string, std::string> get_init_logs() {
+  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
     return {};
   }
 

openpilot/common/hardware/comma/agnos.json

@@ -23,14 +23,14 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
-    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35.img.xz",
+    "hash": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35",
+    "hash_raw": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
+    "ondevice_hash": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35"
   },
   {
     "name": "aop",
@@ -56,29 +56,29 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
-    "hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
-    "hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
-    "size": 17487872,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
+    "hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "size": 46897152,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
+    "ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
-    "hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
-    "hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
+    "hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
+    "hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
+    "ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
     "alt": {
-      "hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
+      "hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
       "size": 4718592000
     }
   }
-]
+]

openpilot/common/hardware/comma/agnos.py

@@ -12,7 +12,7 @@ import requests
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 
-AGNOS_MANIFEST_FILE = "openpilot/system/hardware/tici/agnos.json"
+AGNOS_MANIFEST_FILE = "openpilot/system/hardware/comma/agnos.json"
 
 
 class StreamingDecompressor:

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

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

openpilot/common/hardware/comma/hardware.h

@@ -9,7 +9,7 @@
 #include "common/util.h"
 #include "common/hardware/base.h"
 
-class HardwareTici : public HardwareNone {
+class HardwareComma : public HardwareNone {
 public:
   static std::string get_name() {
     static const std::string name = []() {
@@ -59,7 +59,7 @@ public:
     std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
   }
 
-  static std::map<std::string, std::string> get_init_logs() {
+  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
     std::map<std::string, std::string> ret = {
       {"/BUILD", util::read_file("/BUILD")},
       {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
@@ -73,12 +73,14 @@ public:
     temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
     ret["boot temp"] = temp;
 
-    // TODO: log something from system and boot
-    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
-      for (std::string slot : {"a", "b"}) {
-        std::string partition = part + "_" + slot;
-        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
-        ret[partition] = hash.substr(0, hash.find_first_of(" "));
+    // TODO: these are too slow to do on route log inits. need to do it async?
+    if (!route_log) {
+      for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+        for (std::string slot : {"a", "b"}) {
+          std::string partition = part + "_" + slot;
+          std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+          ret[partition] = hash.substr(0, hash.find_first_of(" "));
+        }
       }
     }
 

openpilot/common/hardware/comma/hardware.py

@@ -12,9 +12,8 @@ from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
 from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
-from openpilot.common.esim.lpa import TiciLPA
-from openpilot.common.hardware.tici.pins import GPIO
-from openpilot.common.hardware.tici.amplifier import Amplifier
+from openpilot.common.hardware.comma.pins import GPIO
+from openpilot.common.hardware.comma.amplifier import Amplifier
 
 MODEM_STATE_PATH = "/dev/shm/modem"
 
@@ -58,7 +57,17 @@ def get_default_route_iface():
     routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
   return min(routes)[1] if routes else None
 
-class Tici(HardwareBase):
+class HardwareComma(HardwareBase):
+  """
+    This platform covers the Snapdragon 845-based comma devices:
+    - tici = comma three
+    - tizi = comma 3X
+    - mici = comma four
+
+    We strictly use only the device codenames in this codebase for
+    consistency, though all user-facing UI should use the product names.
+  """
+
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
@@ -145,7 +154,8 @@ class Tici(HardwareBase):
     }
 
   def get_sim_lpa(self) -> LPABase:
-    return TiciLPA()
+    from openpilot.common.esim.lpa import LPA
+    return LPA()
 
   def get_imei(self):
     return self.get_modem_state().get('imei', '')
@@ -413,7 +423,7 @@ class Tici(HardwareBase):
     return True
 
 if __name__ == "__main__":
-  t = Tici()
+  t = HardwareComma()
   t.initialize_hardware()
   t.set_power_save(False)
   print(t.get_sim_info())

openpilot/common/hardware/comma/modem.py

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

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

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

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

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

openpilot/common/hardware/hw.h

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

openpilot/common/hardware/pc/hardware.py

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

openpilot/common/hardware/usb.py

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

openpilot/common/mock/__init__.py

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

openpilot/common/mock/generators.py

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

openpilot/common/parameterized.py

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

openpilot/common/params.py

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

openpilot/common/params_c.cc

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

openpilot/common/params_keys.h

@@ -91,10 +91,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
-    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
@@ -106,7 +106,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
@@ -131,8 +130,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -196,11 +195,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
+    {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
+    {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},
 
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/common/params_pyx.pyx

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

openpilot/common/qrcode.py

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

openpilot/common/stat_live.py

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

openpilot/common/swaglog.py

@@ -45,7 +45,8 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
       fp = os.path.join(base_dir, fn)
       if fp.startswith(self.base_filename) and os.path.isfile(fp):
         log_files.append(fp)
-    return sorted(log_files)
+    # newest first, matching _open()'s insert(0, ...) so doRollover()'s pop() deletes the oldest
+    return sorted(log_files, reverse=True)
 
   def shouldRollover(self, record):
     size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes

openpilot/common/test.py

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

openpilot/common/tests/.gitignore

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

openpilot/common/tests/native_test.h

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

openpilot/common/tests/test_file_helpers.py

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

openpilot/common/tests/test_markdown.py

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

openpilot/common/tests/test_params.py

@@ -1,13 +1,13 @@
-import pytest
 import datetime
 import os
 import threading
 import time
 import uuid
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
-class TestParams:
+class TestParams(OpenpilotTestCase):
   def setup_method(self):
     self.params = Params()
 
@@ -50,18 +50,23 @@ class TestParams:
     assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.get("swag")
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.get_bool("swag")
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.put("swag", "abc", block=True)
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.put_bool("swag", True, block=True)
 
+    with self.assertRaises(UnknownKeyName):
+      self.params.put(b"DongleId\0suffix", "abc", block=True)
+
+    assert self.params.get_param_path(b"key\0suffix").endswith("/key\0suffix")
+
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
     self.params.remove("CarParams")

openpilot/common/tests/test_runner.cc

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

openpilot/common/tests/test_simple_kalman.py

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

openpilot/common/tests/test_swaglog.cc

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

openpilot/common/tests/test_util.cc

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

openpilot/common/transformations/camera.py

@@ -37,12 +37,12 @@ class _NoneCameraConfig(CameraConfig):
 
 @dataclass(frozen=True)
 class DeviceCameraConfig:
-  fcam: CameraConfig
-  dcam: CameraConfig
-  ecam: CameraConfig
+  narrow_road: CameraConfig
+  cabin: CameraConfig
+  wide_road: CameraConfig
 
   def all_cams(self):
-    for cam in ['fcam', 'dcam', 'ecam']:
+    for cam in ['narrow_road', 'cabin', 'wide_road']:
       if not isinstance(getattr(self, cam), _NoneCameraConfig):
         yield cam, getattr(self, cam)
 

openpilot/common/transformations/tests/test_coordinates.py

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

openpilot/common/transformations/tests/test_orientation.py

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

openpilot/common/utils.py

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

openpilot/common/version.py

@@ -28,6 +28,8 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "release3-staging"): "release-tizi-staging",
   ("mici", "release3"): "release-mici",
   ("mici", "release3-staging"): "release-mici-staging",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }
 
 BUILD_METADATA_FILENAME = "build.json"