bump

# Conflicts:
#	opendbc_repo

.clang-tidy

@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...

.codespellignore

@@ -2,5 +2,3 @@ Wen
 REGIST
 PullRequest
 cancelled
-FOF
-NoO

.dockerignore

@@ -0,0 +1,39 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+venv/
+.venv/
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+selfdrive/test/simulator2
+**/cache_data
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk

.editorconfig

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

.gitattributes

@@ -7,8 +7,17 @@
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
 *.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
+selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
+third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text

.github/CODEOWNERS

@@ -1,11 +1,3 @@
 *       @sunnypilot/dev-internal
 /.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve
+/release/ci/ @devtekve @sunnyhaibin

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

.github/labeler.yaml

@@ -1,6 +1,6 @@
 ci:
   - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
+    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
 chore:
   - changed-files:
@@ -8,24 +8,24 @@ chore:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/sim/**'
+    - any-glob-to-all-files: 'tools/sim/**'
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
+    - any-glob-to-all-files: 'selfdrive/ui/**'
 
 tools:
   - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/**'
+    - any-glob-to-all-files: 'tools/**'
 
 multilanguage:
   - changed-files:
-    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"

.github/pull_request_template.md

@@ -44,8 +44,8 @@ Explain how you tested this bug fix.
 
 **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)
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):

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

@@ -0,0 +1,58 @@
+name: 'automatically cache based on current runner'
+
+inputs:
+  path:
+    description: 'path to cache'
+    required: true
+  key:
+    description: 'key'
+    required: true
+  restore-keys:
+    description: 'restore-keys'
+    required: true
+  save:
+    description: 'whether to save the cache'
+    default: 'false'
+    required: false
+outputs:
+  cache-hit:
+    description: 'cache hit occurred'
+    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: setup namespace cache
+      id: ns-cache
+      if: ${{ contains(runner.name, 'nsc') }}
+      uses: namespacelabs/nscloud-cache-action@v1
+      with:
+        path: ${{ inputs.path }}
+
+    - name: setup github cache
+      id: gha-cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
+      uses: 'actions/cache@v4'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    - name: setup github cache
+      id: gha-cache-ro
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
+      uses: 'actions/cache/restore@v4'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      run: |
+        mkdir -p ${{ inputs.path }}
+        sudo chmod -R 777 ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -1,7 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
-    types: [ opened, reopened, synchronize, edited ]
+    types: [opened, reopened, synchronize, edited]
 
 jobs:
   labeler:
@@ -12,38 +12,38 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
       with:
         submodules: false
 
     # Label PRs
-    - uses: actions/labeler@v6
+    - uses: actions/labeler@v5.0.0
       with:
         dot: true
         configuration-path: .github/labeler.yaml
 
     # Check PR target branch
     - name: check branch
-      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
+      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
       if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
+        target: /^(?!master-new$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-new` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env:
-      PR_LABEL: 'dev'
+    env: 
+      PR_LABEL: 'dev-c3'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev label
+      - name: Check if PR has dev-c3 label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -55,33 +55,33 @@ jobs:
               repo: context.repo.repo,
               issue_number: prNumber
             });
-
+            
             const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
             const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-
+            
             console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
             console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
             core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
+      
       - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           script: |
             const prNumber = context.payload.pull_request.number;
-
+            
             await github.rest.issues.removeLabel({
               owner: context.repo.owner,
               repo: context.repo.repo,
               issue_number: prNumber,
               name: process.env.TRUST_FORK_PR_LABEL
             });
-
+            
             console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-
+            
             // Add a comment to the PR
             await github.rest.issues.createComment({
               owner: context.repo.owner,

.github/workflows/badges.yaml

@@ -5,7 +5,9 @@ on:
   workflow_dispatch:
 
 env:
-  PYTHONPATH: ${{ github.workspace }}
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:
@@ -15,13 +17,13 @@ jobs:
     permissions:
       contents: write
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: ./tools/op.sh setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
-        python3 selfdrive/ui/translations/create_badges.py
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
 
         rm .gitattributes
 

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

@@ -1,306 +0,0 @@
-name: Build and push all tinygrad models
-
-on:
-  workflow_dispatch:
-    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
-    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use (from GitHub docs repo)
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$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" >> $GITHUB_ENV
-
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(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: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ 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 ../..
-          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${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
-    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ 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(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  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 != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    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

@@ -1,238 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
-        required: false
-        default: true
-        type: boolean
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      model_folder:
-        description: 'Model folder'
-        type: choice
-        default: 'None'
-        options:
-          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: string
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-env:
-  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
-
-jobs:
-  build_model:
-    uses: ./.github/workflows/sunnypilot-build-model.yaml
-    with:
-      upstream_branch: ${{ inputs.upstream_branch }}
-      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: ${{ inputs.is_20hz }}
-      artifact_suffix: ${{ inputs.artifact_suffix }}
-    secrets: inherit
-
-  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
-    needs: build_model
-    runs-on: ubuntu-latest
-    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 $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          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 and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          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
-        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 "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
-            ARGS="$ARGS --model-folder \"$FOLDER\""
-          fi
-          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
-          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(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/cereal_validation.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
     paths:
       - 'cereal/**'
@@ -16,69 +17,61 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-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 }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
-  CI: 1
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
+  generate_cereal_artifact:
+    name: Generate cereal validation artifacts
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+      - name: Generate the log file
+        run: |
+          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
+          ls -la
+          ls -la cereal/messaging/tests
+      - name: 'Prepare artifact'
+        run: |
+          mkdir -p "cereal/messaging/tests/cereal_validations"
+          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
+          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+
   validate_cereal_with_upstream:
     name: Validate cereal with Upstream
     runs-on: ubuntu-24.04
+    needs: generate_cereal_artifact
     steps:
-      - name: Checkout sunnypilot cereal
-        uses: actions/checkout@v6
-        with:
-          sparse-checkout: cereal
-
-      - name: Init sunnypilot opendbc submodule
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Checkout upstream openpilot
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           repository: 'commaai/openpilot'
-          path: upstream_openpilot
+          submodules: true
           ref: "refs/heads/master"
-
-      - name: Init upstream opendbc submodule
-        working-directory: upstream_openpilot
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Locate upstream capnp paths
-        id: locate-capnp
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+      - name: 'Run the validation'
         run: |
-          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
-          if [ -z "$CEREAL_DIR" ]; then
-            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
-            exit 1
-          fi
-          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
-          echo "Found upstream cereal at: $CEREAL_DIR"
-
-          IMPORT_ARGS=""
-          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
-          if [ -n "$CAR_CAPNP" ]; then
-            IMPORT_ARGS="-I $CAR_CAPNP"
-            echo "Found car.capnp at: $CAR_CAPNP"
-          fi
-          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
-
-      - name: Install uv
-        run: pip install uv
-
-      - name: Generate sunnypilot schema
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
-
-      - name: Validate against upstream
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
-            ${{ steps.locate-capnp.outputs.import_args }}
+          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"

.github/workflows/ci_weekly_report.yaml

@@ -0,0 +1,101 @@
+name: weekly CI test report
+on:
+  schedule:
+    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
+  workflow_dispatch:
+    inputs:
+      ci_runs:
+        description: 'The amount of runs to trigger in CI test report'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
+
+jobs:
+  setup:
+    if: github.repository == 'sunnypilot/sunnypilot'
+    runs-on: ubuntu-latest
+    outputs:
+      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
+    steps:
+      - id: ci_runs_setup
+        name: CI_RUNS=${{ env.CI_RUNS }}
+        run: |
+          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
+          echo "matrix=$matrix" >> $GITHUB_OUTPUT
+
+  ci_matrix_run:
+    needs: [ setup ]
+    strategy:
+      fail-fast: false
+      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    with:
+      run_number: ${{ matrix.run_number }}
+
+  report:
+    needs: [ci_matrix_run]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Get job results
+        uses: actions/github-script@v7
+        id: get-job-results
+        with:
+          script: |
+            const jobs = await github
+              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
+                owner: "commaai",
+                repo: "${{ github.event.repository.name }}",
+                run_id: "${{ github.run_id }}",
+                attempt: "${{ github.run_attempt }}",
+              })
+            var report = {}
+            jobs.slice(1, jobs.length-1).forEach(job => {
+              if (job.conclusion === "skipped") return;
+              const jobName = job.name.split(" / ")[2];
+              const runRegex = /\((.*?)\)/;
+              const run = job.name.match(runRegex)[1];
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
+              switch (job.conclusion) {
+                case "success":
+                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
+                case "failure":
+                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
+                case "canceled":
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
+              }
+            });
+            return JSON.stringify({"jobs": report});
+
+      - name: Add job results to summary
+        env:
+          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
+        run: |
+          cat <<EOF >> template.html
+          <table>
+            <thead>
+              <tr>
+                <th></th>
+                <th>Job</th>
+                <th>✅ Passing</th>
+                <th>❌ Failure Details</th>
+              </tr>
+            </thead>
+            <tbody>
+              {% for key in jobs.keys() %}<tr>
+                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
+                <td>{{ key }}</td>
+                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
+                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
+                </td>
+              </tr>{% endfor %}
+          </table>
+          EOF
+
+          pip install jinja2-cli
+          echo $JOB_RESULTS | jinja2 template.html > report.html
+          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
+          cat report.html >> $GITHUB_STEP_SUMMARY

.github/workflows/ci_weekly_run.yaml

@@ -0,0 +1,17 @@
+name: weekly CI test run
+on:
+  workflow_call:
+    inputs:
+      run_number:
+        required: true
+        type: string
+
+concurrency:
+  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  selfdrive_tests:
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}

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

@@ -0,0 +1,21 @@
+name: 'compile openpilot'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/diff_report.yaml

@@ -1,57 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Get tests run ID
-      if: steps.wait.outcome == 'success'
-      id: tests-run
-      env:
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        run_id=$(gh api \
-          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
-          --jq '.workflow_runs[0].id // empty')
-        if [ -z "$run_id" ]; then
-          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
-          exit 1
-        fi
-        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        repository: ${{ github.repository }}
-        run-id: ${{ steps.tests-run.outputs.run-id }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
-      with:
-        file-path: diff_report.txt
-        comment-tag: diff_report
-        pr-number: ${{ github.event.number }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -22,19 +22,19 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
       with:
         submodules: true
 
     # Build
     - name: Build docs
       run: |
-        git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        # TODO: can we install just the "docs" dependency group without the normal deps?
+        pip install mkdocs
+        mkdocs build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
@@ -45,7 +45,7 @@ jobs:
       run: |
         set -x
 
-        source tools/release/identity.sh
+        source release/identity.sh
 
         cd openpilot-docs
         git checkout --orphan tmp

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

@@ -5,54 +5,14 @@ on:
     types: [created, edited]
 
 jobs:
-  cleanup-branches:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-    steps:
-      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v9
-        with:
-          script: |
-            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
-            const prefixes = ['tmp-jenkins', '__jenkins'];
-
-            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              per_page: 100,
-            })) {
-              for (const branch of response.data) {
-                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
-
-                const { data: commit } = await github.rest.repos.getCommit({
-                  owner: context.repo.owner,
-                  repo: context.repo.repo,
-                  ref: branch.commit.sha,
-                });
-
-                const commitDate = new Date(commit.commit.committer.date).getTime();
-                if (commitDate < cutoff) {
-                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
-                  await github.rest.git.deleteRef({
-                    owner: context.repo.owner,
-                    repo: context.repo.repo,
-                    ref: `heads/${branch.name}`,
-                  });
-                }
-              }
-            }
-
+  # TODO: gc old branches in a separate job in this workflow
   scan-comments:
     runs-on: ubuntu-latest
     if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v9
+      uses: actions/github-script@v7
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -72,7 +32,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v7
+      uses: actions/checkout@v4
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -83,14 +43,3 @@ jobs:
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
         GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v9
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/lfs-maintenance.yaml

@@ -9,11 +9,11 @@ on:
     - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
   push:
     branches:
-      - 'master'
+      - 'master-new'
   pull_request:
     branches:
-      - 'master'
-  workflow_dispatch: # enables manual triggering
+      - 'master-new'
+  workflow_dispatch:  # enables manual triggering
     inputs:
       upstream_branch:
         default: 'master'
@@ -30,7 +30,7 @@ jobs:
         with:
           repository: 'commaai/openpilot'
           ref: ${{ inputs.upstream_branch }}
-
+      
       - name: LFS Fetch
         run: |
           git lfs fetch
@@ -48,7 +48,7 @@ jobs:
       - name: Add GitLab public keys
         run: |
           ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
+      
       - name: Ensure branch
         run: |
           if git symbolic-ref -q HEAD >/dev/null; then

.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/post-to-discourse/action.yml

@@ -1,105 +0,0 @@
-name: 'Post to Discourse'
-description: 'Posts a message to a Discourse topic (existing or new)'
-
-inputs:
-  discourse-url:
-    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
-    required: true
-  api-key:
-    description: 'Discourse API key'
-    required: true
-  api-username:
-    description: 'Discourse API username'
-    required: true
-  topic-id:
-    description: 'Discourse topic ID to post to (use this OR category-id + title)'
-    required: false
-  category-id:
-    description: 'Category ID for new topic (required if topic-id not provided)'
-    required: false
-  title:
-    description: 'Title for new topic (required if topic-id not provided)'
-    required: false
-  message:
-    description: 'Message content (markdown supported)'
-    required: true
-
-outputs:
-  post-number:
-    description: 'The post number in the topic'
-    value: ${{ steps.post.outputs.post_number }}
-  post-url:
-    description: 'Direct URL to the post'
-    value: ${{ steps.post.outputs.post_url }}
-  topic-id:
-    description: 'The topic ID (useful when creating a new topic)'
-    value: ${{ steps.post.outputs.topic_id }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: Post to Discourse
-      id: post
-      shell: bash
-      run: |
-        # Validate inputs
-        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
-          echo "❌ Error: Must provide either topic-id OR both category-id and title"
-          exit 1
-        fi
-        
-        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
-          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
-        fi
-        
-        # Determine if creating new topic or posting to existing
-        if [ -n "${{ inputs.topic-id }}" ]; then
-          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
-        
-          # Create JSON payload for posting to existing topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg topic_id "${{ inputs.topic-id }}" \
-            '{topic_id: $topic_id, raw: $content}')
-        else
-          echo "✨ Creating new topic: ${{ inputs.title }}"
-        
-          # Create JSON payload for new topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg title "${{ inputs.title }}" \
-            --arg category "${{ inputs.category-id }}" \
-            '{title: $title, category: ($category | tonumber), raw: $content}')
-        fi
-        
-        # Post to Discourse
-        RESPONSE=$(curl -s -w "\n%{http_code}" \
-          -X POST "${{ inputs.discourse-url }}/posts.json" \
-          -H "Content-Type: application/json" \
-          -H "Api-Key: ${{ inputs.api-key }}" \
-          -H "Api-Username: ${{ inputs.api-username }}" \
-          -d "$PAYLOAD")
-        
-        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
-        BODY=$(echo "$RESPONSE" | sed '$d')
-        
-        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
-          echo "✅ Successfully posted to Discourse!"
-        
-          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
-          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
-          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
-        
-          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
-          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
-          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
-        
-          echo "Topic ID: ${TOPIC_ID}"
-          echo "Post number: ${POST_NUMBER}"
-          echo "URL: ${POST_URL}"
-        else
-          echo "❌ Failed to post to Discourse"
-          echo "HTTP Code: ${HTTP_CODE}"
-          echo "Response: ${BODY}"
-          exit 1
-        fi

.github/workflows/prebuilt.yaml

@@ -6,7 +6,7 @@ on:
 
 env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
+  BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
   build_prebuilt:
@@ -28,8 +28,8 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
+        check-regexp: ^((?!.*(build master-ci).*).)*$
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - run: git lfs pull

.github/workflows/release-drafter.yml

@@ -3,6 +3,7 @@ name: Release Drafter
 on:
   push:
     branches:
+      - master-new
       - master
     tags:
       - 'v*'

.github/workflows/release.yaml

@@ -5,27 +5,50 @@ on:
   workflow_dispatch:
 
 jobs:
-  build___nightly:
-    name: build __nightly
+  build_masterci:
+    name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write
     steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30
-        running-workflow-name: 'build __nightly'
+        running-workflow-name: 'build master-ci'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
+    - uses: actions/checkout@v4
       with:
         submodules: true
         fetch-depth: 0
-    - run: ./tools/op.sh setup
-    - name: Push __nightly
-      run: BRANCH=__nightly tools/release/build_stripped.sh
+    - name: Pull LFS
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
+    - name: Build master-ci
+      run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
+        BRANCH=__nightly release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -3,119 +3,69 @@ name: repo maintenance
 on:
   schedule:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  pull_request:
-    types: [closed]
   workflow_dispatch:
 
 env:
-  PYTHONPATH: ${{ github.workspace }}
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
+  update_translations:
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Update translations
+        run: |
+          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: Vehicle Researcher <user@comma.ai>
+          commit-message: "Update translations"
+          title: "[bot] Update translations"
+          body: "Automatic PR from repo-maintenance -> update_translations"
+          branch: "update-translations"
+          base: "master"
+          delete-branch: true
+          labels: bot
+
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    if: >-
-      github.repository == 'sunnypilot/sunnypilot' &&
-      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: ./tools/op.sh setup
     - name: uv lock
-      run: uv lock --upgrade
-    - name: uv pip tree
-      id: pip_tree
       run: |
-        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
-        uv pip tree >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: venv size
-      id: venv_size
-      run: |
-        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
-        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
-        echo "" >> $GITHUB_OUTPUT
-        echo "Top 10 by size:" >> $GITHUB_OUTPUT
-        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
-          | grep -v '\.dist-info' \
-          | grep -v '__pycache__' \
-          | sort -rh \
-          | head -10 \
-          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
+        python3 -m ensurepip --upgrade
+        pip3 install uv
+        uv lock --upgrade
     - name: bump submodules
       run: |
-        git config submodule.msgq.update none
-        git config submodule.rednose_repo.update none
-        git config submodule.teleoprtc_repo.update none
-        git config submodule.tinygrad.update none
-        git submodule update --remote
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
         git add .
     - name: update car docs
       run: |
-        python openpilot/selfdrive/car/docs.py
+        scons -j$(nproc) --minimal opendbc_repo
+        PYTHONPATH=. python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
+        author: Vehicle Researcher <user@comma.ai>
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
         base: master
         delete-branch: true
-        body: |
-          Automatic PR from repo-maintenance -> package_updates
-
-          ```
-          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
-          ${{ steps.venv_size.outputs.VENV_SIZE }}
-          ```
-
-          ```
-          $ uv pip tree
-          ${{ steps.pip_tree.outputs.PIP_TREE }}
-          ```
+        body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot
-
-  cleanup_closed_branches:
-    if: github.repository == 'commaai/openpilot'
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-      pull-requests: read
-    steps:
-      - uses: actions/github-script@v9
-        with:
-          script: |
-            const { owner, repo } = context.repo;
-            const upstream = `${owner}/${repo}`;
-
-            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
-              owner,
-              repo,
-              state: 'closed',
-              per_page: 100,
-            })) {
-              for (const pr of response.data) {
-                if (pr.head.repo?.full_name !== upstream) continue;
-
-                const branch = pr.head.ref;
-                try {
-                  await github.rest.git.deleteRef({
-                    owner,
-                    repo,
-                    ref: `heads/${branch}`,
-                  });
-                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
-                } catch (error) {
-                  if (error.status === 422 || error.status === 403) {
-                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
-                    continue;
-                  }
-                  throw error;
-                }
-              }
-            }

.github/workflows/selfdrive_tests.yaml

@@ -0,0 +1,366 @@
+name: selfdrive
+
+on:
+  push:
+    branches:
+      - master
+      - master-new
+  pull_request:
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+
+concurrency:
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+
+jobs:
+  build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
+    name: build release
+    runs-on:
+      - 'ubuntu-24.04'
+    env:
+      STRIPPED_DIR: /tmp/releasepilot
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
+    - name: Build devel
+      timeout-minutes: 1
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Check submodules
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
+      run: release/check-submodules.sh
+    - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "python3 system/manager/build.py"
+    - name: Run tests
+      timeout-minutes: 1
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh"
+
+  build:
+    runs-on:
+      - 'ubuntu-24.04'
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Setup docker push
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        $DOCKER_LOGIN
+    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: 30
+
+  build_mac:
+    name: build macOS
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          brew-macos-${{ env.CACHE_COMMIT_DATE }}
+          brew-macos
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Save Homebrew cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+    - run: git lfs pull
+    - name: Getting scons cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+
+  static_analysis:
+    name: static analysis
+    runs-on:
+      - 'ubuntu-latest'
+    env:
+      PYTHONWARNINGS: default
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+
+  unit_tests:
+    name: unit tests
+    runs-on:
+      - 'ubuntu-24.04'
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run unit tests
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      run: |
+        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        chmod -R 777 /tmp/comma_download_cache"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  process_replay:
+    name: process replay
+    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
+    runs-on:
+      - 'ubuntu-24.04'
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v4
+      with:
+        path: .ci_cache/comma_download_cache
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run replay
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      run: |
+        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
+                        coverage xml"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v4
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    - name: Run regen
+      if: false
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  test_cars:
+    name: cars
+    runs-on:
+      - 'ubuntu-24.04'
+    strategy:
+      fail-fast: false
+      matrix:
+        job: [0, 1, 2, 3]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: routes-cache
+      uses: actions/cache@v4
+      with:
+        path: .ci_cache/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Test car models
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
+      run: |
+        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        NUM_JOBS: 4
+        JOB_ID: ${{ matrix.job }}
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v4
+      with:
+        name: ${{ github.job }}-${{ matrix.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  car_docs_diff:
+    name: PR comments
+    runs-on: ubuntu-latest
+    #if: github.event_name == 'pull_request'
+    if: false  # TODO: run this in opendbc?
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - run: git lfs pull
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          path: current
+      - run: cd current && git lfs pull
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          cd current
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })
+
+  simulator_driving:
+    name: simulator driving
+    runs-on:
+      - 'ubuntu-24.04'
+    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: 1
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
+
+  create_ui_report:
+    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
+    name: Create UI Report
+    runs-on:
+      - 'ubuntu-24.04'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: caching frames
+        id: frames-cache
+        uses: actions/cache@v4
+        with:
+          path: .ci_cache/comma_download_cache
+          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create Test Report
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+        run: >
+            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                            source selfdrive/test/setup_xvfb.sh &&
+                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
+                            chmod -R 777 /tmp/comma_download_cache"
+      - name: Upload Test Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.REPORT_NAME }}
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots

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

@@ -0,0 +1,37 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        is_retried: true

.github/workflows/setup/action.yaml

@@ -0,0 +1,56 @@
+name: 'openpilot env setup'
+
+inputs:
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
+    required: false
+    default: 'false'
+
+runs:
+  using: "composite"
+  steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
+    - shell: bash
+      name: No retries!
+      run: |
+        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
+          echo -e "\033[0;31m##################################################"
+          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
+          echo -e "\033[0;31m##################################################\033[0m"
+          exit 1
+        fi
+
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - shell: bash
+      run: echo "$CACHE_COMMIT_DATE"
+    - id: scons-cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}
+    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
+    - id: normalize-file-permissions
+      shell: bash
+      name: Normalize file permissions to ensure a consistent docker build cache
+      run: |
+        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
+        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
+    # build our docker image
+    - shell: bash
+      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -5,15 +5,14 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
+  DAYS_BEFORE_PR_CLOSE: 2
+  DAYS_BEFORE_PR_STALE: 9
 
 jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v9
         with:
           exempt-all-milestones: true
 
@@ -25,28 +24,6 @@ jobs:
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
 
           # issue config
           days-before-issue-stale: -1 # ignore issues for now

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

@@ -5,31 +5,8 @@ env:
   OUTPUT_DIR: ${{ github.workspace }}/output
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
 
 on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -38,80 +15,41 @@ on:
         default: 'master'
         type: string
       custom_name:
-        description: 'Custom name for the model (no date, only name)'
+        description: 'Custom name for the model'
+        required: false
+        type: string
+      file_name:
+        description: 'File name prefix for the model files'
         required: false
         type: string
       is_20hz:
         description: 'Is this a 20Hz model'
         required: false
         type: boolean
-        default: true
+        default: false
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    env:
-      REF: ${{ inputs.upstream_branch }}
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
-      # and fallback to sunnypilot if the ref checkout fails.
-      - name: Checkout commaai/openpilot
-        id: checkout_upstream
-        continue-on-error: true
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/openpilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-
-      - name: Fallback to sunnypilot/sunnypilot
-        if: steps.checkout_upstream.outcome == 'failure'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-      - name: Get commit date
-        id: commit-date
-        run: |
-          cd ${{ github.workspace }}/openpilot
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
-
   build_model:
-    runs-on: [self-hosted, tici]
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-      REF: ${{ inputs.upstream_branch }}
+    runs-on: self-hosted
+
     steps:
       - uses: actions/checkout@v4
         with:
+          repository: ${{ env.UPSTREAM_REPO }}
+          ref: ${{ github.event.inputs.upstream_branch }}
           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-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
@@ -122,146 +60,74 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
       - name: Setup build environment
         run: |
           mkdir -p "${BUILD_DIR}/"
           sudo find $BUILD_DIR/ -mindepth 1 -delete
           echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
+      
+      - name: Patch SConstruct to pass arbitrary cache
+        run: |
+          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
+          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
+          cat ${{ github.workspace }}/SConstruct
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
-
-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          # Generate metadata for all ONNX files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-          # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
-            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
-
-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
-
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
+          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
 
       - name: Prepare Output
         run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
+            --include='*.thneed' \
             --include='*.pkl' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
             --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Write artifact name to file
-        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
+            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
+          
+          # Rename files if file_name is provided
+          if [ ! -z "${{ inputs.file_name }}" ]; then
+            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
+            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
+          fi
+          
+          # Calculate SHA256 hashes
+          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
+          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
+          
+          # Create metadata.json
+          cat > ${OUTPUT_DIR}/metadata.json << EOF
+          {
+            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
+            "full_name": "${{ inputs.file_name || 'default' }}",
+            "is_20hz": ${{ inputs.is_20hz || false }},
+            "files": {
+              "drive_model": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
+                "sha256": "${HASH}"
+              },
+              "metadata": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
+                "sha256": "${METADATA_HASH}"
+              }
+            },
+            "ref": "${{ inputs.upstream_branch }}",
+            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
+          }     
 
       - name: Upload Build Artifacts
-        id: upload-artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
+          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
           path: ${{ env.OUTPUT_DIR }}
-
-      - name: Upload artifact name file
-        uses: actions/upload-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

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

@@ -6,126 +6,60 @@ env:
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
+  
   # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
+  MASTER_BRANCH: "master"
+  MASTER_NEW_BRANCH: "master-new"
+  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
+  
+  # Target branch configurations
+  STAGING_TARGET_BRANCH: "staging-c3-new"
+  DEV_TARGET_BRANCH: "dev-c3-new"
+  RELEASE_TARGET_BRANCH: "release-c3-new"
 
 on:
   push:
-    branches: [ master, master-dev ]
-    tags: [ 'release/*' ]
+    branches: [ master, master-new, master-dev-c3-new ]
+    tags: [ '*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
     inputs:
       wait_for_tests:
-        description: 'Wait for tests to finish'
+        description: 'Wait for selfdrive_tests to finish'
         required: false
         type: boolean
         default: false
 
 jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-
   validate_tests:
     runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         with:
-          workflow: tests.yaml # The workflow file to monitor
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests, prepare_strategy ]
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
-    runs-on: [self-hosted, tici]
+    runs-on: self-hosted
     outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
+      new_branch: ${{ steps.set-env.outputs.new_branch }}
+      version: ${{ steps.set-env.outputs.version }}
+      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
+          ref: ${{ github.head_ref || github.ref_name }}
           repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
@@ -133,22 +67,62 @@ jobs:
         uses: actions/cache@v4
         with:
           path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
+      - name: Set Configuration
+        if: (!github.event.pull_request.head.repo.fork)
+        run: |
+          if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+            # Dev configuration
+            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+            # Master configuration
+            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
+            # Tag configuration
+            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
+          
+          else
+            # Feature branch configuration
+            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          fi
+          
+      - name: Set Configuration (only forks)
+        if: (github.event.pull_request.head.repo.fork)
+        run: |
+          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+
       - name: Set environment variables
         id: set-env
         run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
+          # Write to GITHUB_OUTPUT from environment variables
+          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
+          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
+          
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -180,13 +154,6 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -198,27 +165,37 @@ jobs:
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
           rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
             --exclude='.sconsign.dblite' \
             --exclude='*.a' \
             --exclude='*.o' \
             --exclude='*.os' \
             --exclude='*.pyc' \
             --exclude='moc_*' \
-            --exclude='__pycache__' \
+            --exclude='*.cc' \
             --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
             --exclude='**/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -242,15 +219,12 @@ jobs:
 
   publish:
     concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
+      group: publish-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: true
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -282,8 +256,8 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
+            "-${{ needs.build.outputs.extra_version_identifier }}"
+          
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
           echo ""
@@ -291,60 +265,38 @@ jobs:
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
 
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
-
   notify:
-    needs:
-    - prepare_strategy
-    - build
-    - publish
+    needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure())
-      && needs.publish.result == 'success'
-      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
-
-      - name: Prepare notification message
-        id: message
-        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
-          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
-          export branch_name="${{ env.SOURCE_BRANCH }}"
-          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
-          export commit_sha="${{ github.sha }}"
-          export commit_short_sha="${{ github.sha }}"
-          export commit_short_sha="${commit_short_sha:0:7}"
-          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
-          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
-
-          MESSAGE=$(cat << 'EOF' | envsubst
-          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
-          EOF
-          )
-
-          {
-            echo 'content<<EOFMARKER'
-            echo "$MESSAGE"
-            echo 'EOFMARKER'
-          } >> $GITHUB_OUTPUT
-        shell: bash
-
-      - name: Post to Discourse
-        uses: ./.github/workflows/post-to-discourse
+      - name: Setup Alpine Linux environment
+        uses: jirutka/setup-alpine@v1.2.0
         with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: "system"
-          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
-          message: ${{ steps.message.outputs.content }}
+          packages: 'jq gettext curl'
 
+      - name: Send Discord Notification
+        env:
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+        run: |
+          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
+          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
+          export VERSION="${{ needs.build.outputs.version }}"
+          export branch_name=${{ github.head_ref || github.ref_name }}
+          export new_branch=${{ needs.build.outputs.new_branch }}
+          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
+          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
+          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          
+          echo ""
+          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
+          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+        shell: alpine.sh {0}
+  
   manage-pr-labels:
     name: Remove prebuilt label
     runs-on: ubuntu-latest

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

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

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

@@ -1,243 +0,0 @@
-name: Build dev
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [ labeled ]
-    branches:
-      - 'master'
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-      )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-          persist-credentials: false
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-          )
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:40) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
-
-          PR_LIST=${PR_LIST//\'/}
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Restore workflows from source
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-
-          # Ensure we are on the target branch
-          git checkout $TARGET_BRANCH
-
-          echo "Restoring .github/workflows from $SOURCE_BRANCH"
-          git checkout origin/$SOURCE_BRANCH -- .github/workflows
-
-          if ! git diff --cached --quiet; then
-            echo "Workflows differ. Committing restoration."
-            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
-          else
-            echo "Workflows match $SOURCE_BRANCH."
-          fi
-
-      - uses: actions/create-github-app-token@v2
-        id: ci-token
-        with:
-          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
-          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
-
-      - name: Push changes if there are diffs
-        id: push-changes
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Use the App Token to set the remote URL with authentication
-          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # Push with the authenticated origin
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/test-discourse.yaml.yml

@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"

.github/workflows/tests.yaml

@@ -1,245 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: 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:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v7
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
-    - run: ./tools/op.sh setup
-    - name: Build openpilot and run checks
-      timeout-minutes: 30
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 openpilot/system/manager/build.py
-    - name: Run tests
-      timeout-minutes: 1
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: tools/release/check-dirty.sh
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        tools/release/check-submodules.sh
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v7
-    - name: Remove Homebrew from environment
-      run: |
-        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
-        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
-    - name: Building openpilot
-      run: scons
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Static analysis
-      timeout-minutes: 1
-      run: scripts/lint/lint.sh
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Run unit tests
-      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'
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Print diff report
-      if: always()
-      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v7
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Upload diff report
-      uses: actions/upload-artifact@v7
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: openpilot/selfdrive/test/process_replay/diff_report.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v7
-      with:
-        repository: commaai/ci-artifacts
-        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-        path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      working-directory: ${{ github.workspace }}/ci-artifacts
-      run: |
-        git config user.name "GitHub Actions Bot"
-        git config user.email "<>"
-        git fetch origin process-replay || true
-        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
-        echo "${{ github.sha }}" > ref_commit
-        git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Driving test
-      timeout-minutes: 2
-      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
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v7
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons
-      - name: Create UI Report
-        env:
-          RAYLIB_BACKEND: headless
-        run: |
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
-      - name: Upload UI Report
-        uses: actions/upload-artifact@v7
-        with:
-          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: openpilot/selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -3,25 +3,21 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
+      - 'master-new'
     paths:
-      - 'openpilot/selfdrive/assets/**'
-      - 'openpilot/selfdrive/ui/**'
-      - 'openpilot/system/ui/**'
+      - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-  # variant:video_prefix:master_branch
-  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
@@ -34,12 +30,11 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - uses: actions/checkout@v7
-        with:
-          submodules: true
+      - name: Waiting for ui generation to start
+        run: sleep 30
 
       - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
+        uses: lewagon/wait-on-check-action@v1.3.4
         with:
           ref: ${{ env.SHA }}
           check-name: ${{ env.UI_JOB_NAME }}
@@ -53,93 +48,110 @@ jobs:
           echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: ui-report-1-${{ env.REPORT_NAME }}
+          name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
-      - name: Getting mici master ui
-        uses: actions/checkout@v7
+      - name: Getting master ui
+        uses: actions/checkout@v4
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_mici
-          ref: openpilot_master_ui_mici_raylib
-
-      - name: Getting big master ui
-        uses: actions/checkout@v7
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_big
-          ref: openpilot_master_ui_big_raylib
+          path: ${{ github.workspace }}/master_ui
+          ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui
         run: |
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video branch <<< "$variant"
-            master_dir="${{ github.workspace }}/master_${name}"
-            cd "$master_dir"
-            git checkout --orphan=new_branch
-            git rm -rf *
-            git branch -D "$branch"
-            git branch -m "$branch"
-            git config user.name "GitHub Actions Bot"
-            git config user.email "<>"
-            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
-            git add .
-            git commit -m "${name} video for commit ${{ env.SHA }}"
-            git push origin "$branch" --force
-          done
+          git checkout --orphan=new_master_ui
+          git rm -rf *
+          git branch -D openpilot_master_ui
+          git branch -m openpilot_master_ui
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/*.png .
+          git add .
+          git commit -m "screenshots for commit ${{ env.SHA }}"
+          git push origin openpilot_master_ui --force
 
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
-
-      - name: Finding diffs
+      - name: Finding diff
         if: github.event_name == 'pull_request_target'
         id: find_diff
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+        run: >-
+          sudo apt-get update && sudo apt-get install -y imagemagick
 
-          COMMENT=""
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video _ <<< "$variant"
-            diff_name="${name}_diff"
+          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
+          A=($scenes)
 
-            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
-            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
+          DIFF=""
+          TABLE="<details><summary>All Screenshots</summary>"
+          TABLE="${TABLE}<table>"
 
-            diff_exit_code=0
-            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
-              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
-              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
-              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+          for ((i=0; i<${#A[*]}; i=i+1));
+          do
+            # Check if the master file exists
+            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
+              # This is a new file in PR UI that doesn't exist in master
+              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
+              DIFF="${DIFF}<table>"
 
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"
 
-            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
-            if [ $diff_exit_code -eq 0 ]; then
-              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
+            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
+              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
+              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+
+              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
+
+              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
+              DIFF="${DIFF}<table>"
+
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
             else
-              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
+              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
+            fi
+
+            INDEX=$(($i % 2))
+            if [[ $INDEX -eq 0 ]]; then
+              TABLE="${TABLE}<tr>"
+            fi
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
+              TABLE="${TABLE}</tr>"
             fi
           done
 
-          {
-            echo "COMMENT<<EOF"
-            echo "$COMMENT"
-            echo "EOF"
-          } >> "$GITHUB_OUTPUT"
+          TABLE="${TABLE}</table></details>"
+
+          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui
         if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_mici
+        working-directory: ${{ github.workspace }}/master_ui
         run: |
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
@@ -147,29 +159,17 @@ jobs:
           git rm -rf *
           mv ${{ github.workspace }}/pr_ui/* .
           git add .
-          git commit -m "ui videos for PR #${{ github.event.number }}"
+          git commit -m "screenshots for PR #${{ github.event.number }}"
           git push origin ${{ env.BRANCH_NAME }} --force
 
-          # Append diff reports to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          for variant in $VARIANTS; do
-            IFS=':' read -r name _ _ <<< "$variant"
-            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
-            git add "${diff_name}_pr_${{ github.event.number }}.html"
-          done
-          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment on PR
+      - name: Comment Screenshots on PR
         if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
+        uses: thollander/actions-comment-pull-request@v2
         with:
           message: |
-            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
             ## UI Preview
-            ${{ steps.find_diff.outputs.COMMENT }}
-          comment-tag: run_id_ui_preview
-          pr-number: ${{ github.event.number }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

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

@@ -4,7 +4,7 @@ inputs:
   workflow:
     description: 'The workflow file name to monitor'
     required: true
-    default: 'tests.yaml'
+    default: 'selfdrive_tests.yaml'
   branch:
     description: 'The branch to monitor (defaults to current branch)'
     required: false
@@ -40,13 +40,5 @@ runs:
         RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
         echo "Watching run ID: $RUN_ID"
         gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
       env:
         GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -10,23 +10,15 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+model2.png
 a.out
 .hypothesis
-.cache/
-bin/
 
-# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
-/msgq
-/opendbc
-/rednose
-/teleoprtc
-/tinygrad
+/docs_site/
 
-*.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -43,60 +35,78 @@ bin/
 *.class
 *.pyxbldc
 *.vcd
-*.mo
+*.qm
 *_pyx.cpp
-*.stats
-*.pkl
-*.pkl*
 config.json
+clcache
 compile_commands.json
 compare_runtime*.html
-openpilot/selfdrive/modeld/models/tg_input_devices.json
 
-# build artifacts
-docs_site/
-openpilot/selfdrive/pandad/pandad
-openpilot/cereal/services.h
-openpilot/cereal/gen
-openpilot/cereal/messaging/bridge
-openpilot/selfdrive/ui/translations/tmp
-openpilot/selfdrive/car/tests/cars_dump
-openpilot/system/camerad/camerad
-openpilot/system/camerad/test/ae_gray_test
+persist
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
+cereal/messaging/bridge
+selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
+system/proclogd/proclogd
+selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
+selfdrive/test/longitudinal_maneuvers/out
+selfdrive/car/tests/cars_dump
+system/camerad/camerad
+system/camerad/test/ae_gray_test
+
+notebooks
+hyperthneed
+provisioning
 
 .coverage*
 coverage.xml
 htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+selfdrive/modeld/models/*.thneed
+selfdrive/modeld/models/*.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl
 
-# openpilot log files
 *.bz2
 *.zst
-*.rlog
 
 build/
 
 !**/.gitkeep
 
+poetry.toml
+Pipfile
 
 ### VisualStudioCode ###
-*.vsix
-.history
-.ionide
 .vscode/*
-.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# agents
-.claude/
-.context/
-PLAN.md
-TASK.md
-CLAUDE.md
-SKILL.md
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
 
 ### JetBrains ###
 !.idea/customTargets.xml

.gitmodules

@@ -15,7 +15,7 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/sunnypilot/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-	path = openpilot/sunnypilot/neural_network_data
+  path = sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git

.idea/tools/External Tools.xml

@@ -2,7 +2,7 @@
   <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
@@ -16,7 +16,7 @@
   <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>

.python-version

@@ -1 +0,0 @@
-3.12.13

.run/Build_BIG_UI.run.xml

@@ -1,26 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="BIG" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.run/Build_SMALL_UI.run.xml

@@ -1,23 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.vscode/launch.json

@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "openpilot/selfdrive/controls/controlsd.py",
-        "openpilot/system/timed/timed.py",
-        "openpilot/tools/sim/run_bridge.py"
+        "selfdrive/controls/controlsd.py",
+        "system/timed/timed.py",
+        "tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,18 +16,13 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "openpilot/selfdrive/ui/ui"
+        "selfdrive/ui/ui"
       ]
     },
     {
       "id": "args",
       "description": "Arguments to pass to the process",
       "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
     }
   ],
   "configurations": [
@@ -45,44 +40,7 @@
       "type": "cppdbg",
       "request": "launch",
       "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
-      },
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
+      "cwd": "${workspaceFolder}",
     }
   ]
 }

.vscode/settings.json

@@ -17,5 +17,11 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
   ]
 }

Dockerfile.openpilot

@@ -0,0 +1,13 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,82 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -63,8 +63,6 @@ if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
-export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
-
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
@@ -95,7 +93,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           retry (3) {
             def date = sh(script: 'date', returnStdout: true).trim();
             device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
             def name = item[0]
@@ -168,8 +166,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -180,21 +178,21 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
     if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
+          deviceStage("build nightly", "tici-needs-can", [], [
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
+          deviceStage("build nightly-dev", "tici-needs-can", [], [
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
           ])
         },
       )
@@ -202,53 +200,75 @@ node {
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
+      // tici tests
       'onroad tests': {
-        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]),
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("check dirty", "release/check-dirty.sh"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       '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"),
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
+          step("test manager", "pytest system/manager/test/test_manager.py"),
+        ])
+      },
+      'loopback': {
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+        ])
+      },
+      'camerad AR0231': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.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]),
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       '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("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       '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("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 

README.md

@@ -3,23 +3,68 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Community Forum
-Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://community.sunnypilot.ai/
+## 💭 Join our Discord
+Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://discord.gg/sunnypilot
+
+  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
 
 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
+
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  4. Complete the rest of the installation following the onscreen instructions.
+
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three, go to `Settings` ▶️ `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+
+> [!IMPORTANT]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |
+
+> [!TIP]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
-Pull requests should be against the most current `master` branch.
+Pull requests should be against the most current `master-new` branch.
 
 ## 📊 User Data
 
@@ -28,7 +73,7 @@ By default, sunnypilot uploads the driving data to comma servers. You can also a
 sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
 sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
 By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 

RELEASES.md

@@ -1,77 +1,10 @@
-Version 0.11.2 (2026-06-15)
-========================
-
-
-Version 0.11.1 (2026-05-18)
-========================
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Improved thermal policy for comma four
-* Acura MDX 2022-24 support thanks to mvl-boston!
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-
-Version 0.11.0 (2026-03-17)
-========================
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-
-Version 0.10.3 (2025-12-17)
-========================
-* New driving model #36249
-  * New temporal policy architecture
-  * New on-policy training physics noise model
-* New driver monitoring model #36409
-  * Trained on a new dataset, including comma four data
-* Improved inter-process communication memory efficiency
-
-Version 0.10.2 (2025-11-19)
-========================
-* comma four support
-
-Version 0.10.1 (2025-09-08)
-========================
-* New driving model #36276
-  * World Model: removed global localization inputs
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * VAE Compression Model: new architecture and training objective
-  * Driving Vision Model: trained on 4x the number of segments
-* New Driver Monitoring model #36198
-* Acura TLX 2021 support thanks to MVL!
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
-* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
-
-Version 0.10.0 (2025-08-05)
+Version 0.9.9 (2025-04-30)
 ========================
 * New driving model
-  * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
-  * Low-speed lead car ground-truth fixes
-* Enable live-learned steering actuation delay
-* Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
-
-Version 0.9.9 (2025-05-23)
-========================
-* New driving model
-  * New training architecture using parts from MLSIM
-* Steering actuation delay is now learned online
-* Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Kuga 2024 support thanks to incognitojam!
-* Hyundai Nexo 2021 support thanks to sunnyhaibin!
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Lexus RC 2023 support thanks to nelsonjchen!
+* Coming soon
+  * New driving model supervised by MLSIM
+  * An online learner for steering actuator delay
 
 Version 0.9.8 (2025-02-28)
 ========================
@@ -1104,7 +1037,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -3,261 +3,362 @@ import subprocess
 import sys
 import sysconfig
 import platform
-import shlex
-import importlib
 import numpy as np
 
 import SCons.Errors
-from SCons.Defaults import _stripixes
-
-TICI = os.path.isfile('/TICI')
 
 SCons.Warnings.warningAsException(True)
 
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
+TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
+SetOption('num_jobs', int(os.cpu_count()/2))
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
 
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-submodule_python_paths = [
-  Dir("#").abspath,
-  Dir("#msgq_repo").abspath,
-  Dir("#opendbc_repo").abspath,
-  Dir("#rednose_repo").abspath,
-  Dir("#teleoprtc_repo").abspath,
-  Dir("#tinygrad_repo").abspath,
-]
-for p in reversed(submodule_python_paths):
-  if p not in sys.path:
-    sys.path.insert(0, p)
+AddOption('--stock-ui',
+          action='store_true',
+          dest='stock_ui',
+          default=False,
+          help='Build stock openpilot UI instead of sunnypilot UI')
 
-if external_pythonpath := os.environ.get("PYTHONPATH"):
-  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
-
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
   arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', '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.
-# 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(
-  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
-  for n in _ffmpeg_lib_names
-)
-ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
-if not ffmpeg_shared:
-  ffmpeg_libs += ['x264', 'z']
-  if arch != "Darwin":
-    ffmpeg_libs += ['va', 'va-drm', 'drm']
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
 
-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread",
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+rpath = lenv["LD_LIBRARY_PATH"].copy()
 
-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+if arch == "larch64":
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+  rpath += []
+
+  # MacOS
+  if arch == "Darwin":
+    libpath = [
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
+  else:
+    libpath = [
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+if not GetOption('stock_ui'):
+  cflags += ["-DSUNNYPILOT"]
+  cxxflags += ["-DSUNNYPILOT"]
+
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')
 
 env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
-  },
+  ENV=lenv,
   CCFLAGS=[
     "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
     "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#openpilot",
-    "#msgq_repo",            # #include "msgq/..."
-    "#opendbc_repo",         # #include "opendbc/..."
-    "#rednose_repo",         # #include "rednose/..."
-    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
-    "#openpilot/cereal/gen/cpp",
-    acados_include_dirs,
-    [x.INCLUDE_DIR for x in pkgs],
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
     "#",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/libyuv/include",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party",
+    "#msgq",
   ],
-  LIBPATH=[
-    "#openpilot/common",
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
     "#msgq_repo",
-    "#openpilot/selfdrive/pandad",
-    "#rednose_repo/rednose/helpers",
-    [x.LIB_DIR for x in pkgs],
+    "#third_party",
+    "#selfdrive/pandad",
+    "#common",
+    "#rednose/helpers",
   ],
-  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#rednose_repo",
+  REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
-  env['_LIBFLAGS'] = _libflags
 
-# Arch-specific flags and paths
-if arch == "larch64":
-  env["CC"] = "clang"
-  env["CXX"] = "clang++"
-  env.Append(LIBPATH=[
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+if arch == "Darwin":
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
 
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
 
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
+# Setup cache dir
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
 
-# ********** Cython build environment **********
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
+# Cython build environment
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
 
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" 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)
-Clean(["."], cache_dir)
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
 
-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
-  cache_size = sum(os.path.getsize(f) for f in cache_files)
-  for f in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    cache_size -= os.path.getsize(f)
-    os.unlink(f)
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
 
-# ********** start building stuff **********
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch')
 
 # Build common module
-SConscript(['openpilot/common/SConscript'])
-Import('_common')
+SConscript(['common/SConscript'])
+Import('_common', '_gpucommon')
+
 common = [_common, 'json11', 'zmq']
-Export('common')
+gpucommon = [_gpucommon]
+
+Export('common', 'gpucommon')
 
 # Build messaging (cereal + msgq + socketmaster + their dependencies)
 # Enable swaglog include in submodules
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['openpilot/cereal/SConscript'])
+SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -268,79 +369,35 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose_repo/rednose/SConscript'])
+SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'openpilot/system/loggerd/SConscript',
+  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
 ])
-
-if arch == "larch64":
-  SConscript(['openpilot/system/camerad/SConscript'])
-
-# Build selfdrive
-SConscript([
-  'openpilot/selfdrive/pandad/SConscript',
-  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'openpilot/selfdrive/locationd/SConscript',
-  'openpilot/selfdrive/modeld/SConscript',
-  'openpilot/selfdrive/ui/SConscript',
-])
-
-SConscript(['openpilot/sunnypilot/SConscript'])
-
-# Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+if arch != "Darwin":
   SConscript([
-    'openpilot/tools/replay/SConscript',
-    'openpilot/tools/cabana/SConscript',
-    'openpilot/tools/jotpluggler/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
   ])
 
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
 
-env.CompilationDatabase('compile_commands.json')
+# Build openpilot
+SConscript(['third_party/SConscript'])
 
-# progress output
-def count_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
+SConscript(['selfdrive/SConscript'])
 
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    if hasattr(node, 'has_builder') and node.has_builder():
-      build_product_nodes.add(node)
-    executor = node.get_executor()
-    if executor is not None:
-      stack += executor.get_all_prerequisites() + executor.get_all_children()
+SConscript(['sunnypilot/SConscript'])
 
-  return len(seen)
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
-progress_interval = 5
-progress_count = 0
-build_product_nodes = set()
-progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
-
-def progress_function(node):
-  global progress_count
-  if progress_count >= progress_total:
-    return
-  progress_count = min(progress_count + progress_interval, progress_total)
-  progress = round(100. * progress_count / progress_total, 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function, interval=progress_interval)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-def check_build_product_size(target, source, env):
-  limit = 50 * 1024 * 1024  # GitHub max size
-  for t in target:
-    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
-      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
-if not GetOption('extras'):
-  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

cereal/README.md

@@ -0,0 +1,95 @@
+# What is cereal?
+
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
+
+
+## Messaging Spec
+
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
+
+All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
+
+### Best Practices
+
+- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
+- In the context of the message they are in, field names should be completely unambiguous.
+- All values should be easy to plot and be human-readable with minimal parsing.
+
+### Maintaining backwards-compatibility
+
+When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
+be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
+things are not. Read more details [here](https://capnproto.org/language.html).
+
+### Custom forks
+
+Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
+spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
+[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
+
+An example of compatible changes:
+```diff
+diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+index 3348e859e..3365c7b98 100644
+--- a/cereal/custom.capnp
++++ b/cereal/custom.capnp
+@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
+ # DO rename the structs
+ # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
+-struct CustomReserved0 @0x81c2f05a394cf4af {
++struct SteeringInfo @0x81c2f05a394cf4af {
++  active @0 :Bool;
++  steeringAngleDeg @1 :Float32;
++  steeringRateDeg @2 :Float32;
++  steeringAccelDeg @3 :Float32;
+ }
+
+ struct CustomReserved1 @0xaedffd8f31e7b55d {
+diff --git a/cereal/log.capnp b/cereal/log.capnp
+index 1209f3fd9..b189f58b6 100644
+--- a/cereal/log.capnp
++++ b/cereal/log.capnp
+@@ -2558,14 +2558,14 @@ struct Event {
+
+     # DO change the name of the field
+     # DON'T change anything after the "@"
+-    customReservedRawData0 @124 :Data;
++    rawCanData @124 :Data;
+     customReservedRawData1 @125 :Data;
+     customReservedRawData2 @126 :Data;
+
+     # DO change the name of the field and struct
+     # DON'T change the ID (e.g. @107)
+     # DON'T change which struct it points to
+-    customReserved0 @107 :Custom.CustomReserved0;
++    steeringInfo @107 :Custom.SteeringInfo;
+     customReserved1 @108 :Custom.CustomReserved1;
+     customReserved2 @109 :Custom.CustomReserved2;
+     customReserved3 @110 :Custom.CustomReserved3;
+```
+
+---
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+```
+
+```python
+# in publisher
+pm = messaging.PubMaster(['sensorEvents'])
+dat = messaging.new_message('sensorEvents', size=1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```

cereal/SConscript

@@ -0,0 +1,20 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+            schema_files,
+            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
+
+# Build messaging
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')

cereal/__init__.py

@@ -0,0 +1,9 @@
+import os
+import capnp
+
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
+capnp.remove_import_hook()
+
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

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

cereal/custom.capnp

@@ -0,0 +1,243 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xb526ba661d550a59;
+
+# custom.capnp: a home for empty structs reserved for custom forks
+# These structs are guaranteed to remain reserved and empty in mainline
+# cereal, so use these if you want custom events in your fork.
+
+# DO rename the structs
+# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
+struct ModularAssistiveDrivingSystem {
+  state @0 :ModularAssistiveDrivingSystemState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  available @3 :Bool;
+
+  enum ModularAssistiveDrivingSystemState {
+    disabled @0;
+    paused @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;
+  }
+}
+
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+}
+
+struct ModelManagerSP @0xaedffd8f31e7b55d {
+  activeBundle @0 :ModelBundle;
+  selectedBundle @1 :ModelBundle;
+  availableBundles @2 :List(ModelBundle);
+
+  struct DownloadUri {
+    uri @0 :Text;
+    sha256 @1 :Text;
+  }
+
+  enum Type {
+    drive @0;
+    navigation @1;
+    metadata @2;
+  }
+
+  struct Model {
+    fullName @0 :Text;
+    fileName @1 :Text;
+    downloadUri @2 :DownloadUri;
+    downloadProgress @3 :DownloadProgress;
+    type @4 :Type;
+  }
+
+  enum DownloadStatus {
+    notDownloading @0;
+    downloading @1;
+    downloaded @2;
+    cached @3;
+    failed @4;
+  }
+
+  struct DownloadProgress {
+    status @0 :DownloadStatus;
+    progress @1 :Float32;
+    eta @2 :UInt32;
+  }
+
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+    stock @2;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+    runner @7 :Runner;
+    is20hz @8 :Bool;
+  }
+}
+
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
+}
+
+struct OnroadEventSP @0xda96579883444c35 {
+  events @0 :List(Event);
+
+  struct Event {
+    name @0 :EventName;
+
+    # event types
+    enable @1 :Bool;
+    noEntry @2 :Bool;
+    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+    userDisable @4 :Bool;
+    softDisable @5 :Bool;
+    immediateDisable @6 :Bool;
+    preEnable @7 :Bool;
+    permanent @8 :Bool; # alerts presented regardless of openpilot state
+    overrideLateral @10 :Bool;
+    overrideLongitudinal @9 :Bool;
+  }
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
+  }
+}
+
+struct CarParamsSP @0x80ae746ee2596b11 {
+  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
+  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
+    }
+  }
+}
+
+struct CarControlSP @0xa5cd762cd951a455 {
+  mads @0 :ModularAssistiveDrivingSystem;
+}
+
+struct BackupManagerSP @0xf98d843bfd7004a3 {
+  backupStatus @0 :Status;
+  restoreStatus @1 :Status;
+  backupProgress @2 :Float32;
+  restoreProgress @3 :Float32;
+  lastError @4 :Text;
+  currentBackup @5 :BackupInfo;
+  backupHistory @6 :List(BackupInfo);
+  
+  enum Status {
+    idle @0;
+    inProgress @1;
+    completed @2;
+    failed @3;
+  }
+  
+  struct Version {
+    major @0 :UInt16;
+    minor @1 :UInt16;
+    patch @2 :UInt16;
+    build @3 :UInt16;
+    branch @4 :Text;
+  }
+  
+  struct MetadataEntry {
+    key @0 :Text;
+    value @1 :Text;
+    tags @2 :List(Text);
+  }
+  
+  struct BackupInfo {
+    deviceId @0 :Text;
+    version @1 :UInt32;
+    config @2 :Text;
+    isEncrypted @3 :Bool;
+    createdAt @4 :Text;  # ISO timestamp
+    updatedAt @5 :Text;  # ISO timestamp
+    sunnypilotVersion @6 :Version;
+    backupMetadata @7 :List(MetadataEntry);
+  }
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
+}
+
+struct CustomReserved10 @0xcb9fd56c7057593a {
+}
+
+struct CustomReserved11 @0xc2243c65e0340384 {
+}
+
+struct CustomReserved12 @0x9ccdc8676701b412 {
+}
+
+struct CustomReserved13 @0xcd96dafb67a082d0 {
+}
+
+struct CustomReserved14 @0xb057204d7deadf3f {
+}
+
+struct CustomReserved15 @0xbd443b539493bc68 {
+}
+
+struct CustomReserved16 @0xfc6241ed8877b611 {
+}
+
+struct CustomReserved17 @0xa30662f84033036c {
+}
+
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
+}
+
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
+}

cereal/legacy.capnp

@@ -0,0 +1,574 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x80ef1ec4889c2a63;
+
+# legacy.capnp: a home for deprecated structs
+
+struct LogRotate @0x9811e1f38f62f2d1 {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+struct LiveUI @0xc08240f996aefced {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
+  awarenessStatus @3 :Float32;
+}
+
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct LidarPts @0xe3d6685d4e9d8f7a {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+

cereal/messaging/__init__.py

@@ -0,0 +1,259 @@
+# must be built with scons
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+import msgq
+
+import os
+import capnp
+import time
+
+from typing import Optional, List, Union, Dict
+
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.common.util import MovingAverage
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+
+def reset_context():
+  msgq.context = Context()
+
+
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+    return msg
+
+
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
+  return dat
+
+
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+  """Receive all message currently available on the queue"""
+  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
+  return [log_from_bytes(m) for m in msgs]
+
+
+# TODO: print when we drop packets?
+def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
+  dat = None
+
+  while 1:
+    if wait and dat is None:
+      recv = sock.receive()
+    else:
+      recv = sock.receive(non_blocking=True)
+
+    if recv is None:  # Timeout hit
+      break
+
+    dat = recv
+
+  if dat is not None:
+    dat = log_from_bytes(dat)
+
+  return dat
+
+
+def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+  dat = sock.receive()
+  if dat is not None:
+    dat = log_from_bytes(dat)
+  return dat
+
+
+def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+  dat = sock.receive(non_blocking=True)
+  if dat is not None:
+    dat = log_from_bytes(dat)
+  return dat
+
+
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
+  """Keep receiving until we get a message"""
+  while True:
+    dat = sock.receive()
+    if dat is not None:
+      return log_from_bytes(dat)
+
+
+class FrequencyTracker:
+  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
+    freq = max(min(service_freq, update_freq), 1.)
+    if is_poll:
+      min_freq = max_freq = freq
+    else:
+      max_freq = min(freq, update_freq)
+      if service_freq >= 2 * update_freq:
+        min_freq = update_freq
+      elif update_freq >= 2* service_freq:
+        min_freq = freq
+      else:
+        min_freq = min(freq, freq / 2.)
+
+    self.min_freq = min_freq * 0.8
+    self.max_freq = max_freq * 1.2
+    self.avg_dt = MovingAverage(int(10 * freq))
+    self.recent_avg_dt = MovingAverage(int(freq))
+    self.prev_time = 0.0
+
+  def record_recv_time(self, cur_time: float) -> None:
+    # TODO: Handle case where cur_time is less than prev_time
+    if self.prev_time > 1e-5:
+      dt = cur_time - self.prev_time
+
+      self.avg_dt.add_value(dt)
+      self.recent_avg_dt.add_value(dt)
+
+    self.prev_time = cur_time
+
+  @property
+  def valid(self) -> bool:
+    if self.avg_dt.count == 0:
+      return False
+
+    avg_freq = 1.0 / self.avg_dt.get_average()
+    if self.min_freq <= avg_freq <= self.max_freq:
+      return True
+
+    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
+    return self.min_freq <= avg_freq_recent <= self.max_freq
+
+
+class SubMaster:
+  def __init__(self, services: List[str], poll: Optional[str] = None,
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+    self.frame = -1
+    self.services = services
+    self.seen = {s: False for s in services}
+    self.updated = {s: False for s in services}
+    self.recv_time = {s: 0. for s in services}
+    self.recv_frame = {s: 0 for s in services}
+    self.alive = {s: False for s in services}
+    self.freq_ok = {s: False for s in services}
+    self.sock = {}
+    self.data = {}
+    self.valid = {}
+    self.logMonoTime = {}
+
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.poller = Poller()
+    polled_services = set([poll, ] if poll is not None else services)
+    self.non_polled_services = set(services) - polled_services
+
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.ignore_valid = [] if ignore_valid is None else ignore_valid
+
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
+
+    # if freq and poll aren't specified, assume the max to be conservative
+    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
+    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
+
+    for s in services:
+      p = self.poller if s not in self.non_polled_services else None
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+
+      try:
+        data = new_message(s)
+      except capnp.lib.capnp.KjException:
+        data = new_message(s, 0) # lists
+
+      self.data[s] = getattr(data.as_reader(), s)
+      self.logMonoTime[s] = 0
+      self.valid[s] = False
+      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
+
+  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
+    return self.data[s]
+
+  def _check_avg_freq(self, s: str) -> bool:
+    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
+
+  def update(self, timeout: int = 100) -> None:
+    msgs = []
+    for sock in self.poller.poll(timeout):
+      msgs.append(recv_one_or_none(sock))
+
+    # non-blocking receive for non-polled sockets
+    for s in self.non_polled_services:
+      msgs.append(recv_one_or_none(self.sock[s]))
+    self.update_msgs(time.monotonic(), msgs)
+
+  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+    self.frame += 1
+    self.updated = dict.fromkeys(self.services, False)
+    for msg in msgs:
+      if msg is None:
+        continue
+
+      s = msg.which()
+      self.seen[s] = True
+      self.updated[s] = True
+
+      self.freq_tracker[s].record_recv_time(cur_time)
+      self.recv_time[s] = cur_time
+      self.recv_frame[s] = self.frame
+      self.data[s] = getattr(msg, s)
+      self.logMonoTime[s] = msg.logMonoTime
+      self.valid[s] = msg.valid
+
+    for s in self.services:
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
+        # alive if delay is within 10x the expected frequency
+        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
+        self.freq_ok[s] = self.freq_tracker[s].valid
+      else:
+        self.freq_ok[s] = True
+        self.alive[s] = self.seen[s] if self.simulation else True
+
+  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
+
+  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
+
+  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
+
+  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
+
+
+class PubMaster:
+  def __init__(self, services: List[str]):
+    self.sock = {}
+    for s in services:
+      self.sock[s] = pub_sock(s)
+
+  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
+    if not isinstance(dat, bytes):
+      dat = dat.to_bytes()
+    self.sock[s].send(dat)
+
+  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()  # type: ignore

cereal/messaging/bridge.cc

@@ -1,7 +1,7 @@
 #include <cassert>
 
-#include "openpilot/cereal/messaging/msgq_to_zmq.h"
-#include "openpilot/cereal/services.h"
+#include "cereal/messaging/msgq_to_zmq.h"
+#include "cereal/services.h"
 #include "common/util.h"
 
 ExitHandler do_exit;
@@ -25,16 +25,15 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }
 
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<BridgeZmqPoller>();
-  auto pub_context = std::make_unique<Context>();
-  auto sub_context = std::make_unique<BridgeZmqContext>();
-  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;
 
   for (auto endpoint : endpoints) {
-    auto pub_sock = new PubSocket();
-    auto sub_sock = new BridgeZmqSubSocket();
-    size_t queue_size = services.at(endpoint).queue_size;
-    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);

cereal/messaging/messaging.h

@@ -8,7 +8,7 @@
 
 #include <capnp/serialize.h>
 
-#include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"
 

cereal/messaging/msgq_to_zmq.cc

@@ -1,8 +1,7 @@
-#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "cereal/messaging/msgq_to_zmq.h"
 
 #include <cassert>
 
-#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -22,14 +21,14 @@ static std::string recv_zmq_msg(void *sock) {
 }
 
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<BridgeZmqContext>();
-  msgq_context = std::make_unique<Context>();
+  zmq_context = std::make_unique<ZMQContext>();
+  msgq_context = std::make_unique<MSGQContext>();
 
   // Create ZMQPubSockets for each endpoint
   for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
     int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
     if (ret != 0) {
       printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -49,7 +48,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
@@ -72,7 +71,7 @@ void MsgqToZmq::zmqMonitorThread() {
   // Set up ZMQ monitor for each pub socket
   for (int i = 0; i < socket_pairs.size(); ++i) {
     std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
 
     void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
     zmq_connect(monitor_socket, addr.c_str());
@@ -109,8 +108,7 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            size_t queue_size = services.at(pair.endpoint).queue_size;
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }
@@ -130,7 +128,7 @@ void MsgqToZmq::zmqMonitorThread() {
 
   // Clean up monitor sockets
   for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
     zmq_close(pollitems[i].socket);
   }
   cv.notify_one();

cereal/messaging/msgq_to_zmq.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <condition_variable>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#define private public
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_zmq.h"
+
+class MsgqToZmq {
+public:
+  MsgqToZmq() {}
+  void run(const std::vector<std::string> &endpoints, const std::string &ip);
+
+protected:
+  void registerSockets();
+  void zmqMonitorThread();
+
+  struct SocketPair {
+    std::string endpoint;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<MSGQSubSocket> sub_sock;
+    int connected_clients = 0;
+  };
+
+  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
+  std::mutex mutex;
+  std::condition_variable cv;
+  std::unique_ptr<MSGQPoller> msgq_poller;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::vector<SocketPair> socket_pairs;
+};

cereal/messaging/socketmaster.cc

@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>
 
-#include "openpilot/cereal/services.h"
-#include "openpilot/cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  float freq = 0.0f;
+  int freq = 0;
   bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
@@ -187,8 +187,7 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(services.count(name) > 0);
-    service serv = services.at(std::string(name));
-    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/messaging/tests/test_messaging.py

@@ -5,13 +5,12 @@ import numbers
 import random
 import threading
 import time
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized
 import pytest
 
-from openpilot.cereal import log
-from opendbc.car.structs import car
-import openpilot.cereal.messaging as messaging
-from openpilot.cereal.services import SERVICE_LIST
+from cereal import log, car
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
 
 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
 
@@ -31,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
@@ -178,8 +177,8 @@ class TestMessaging:
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
-    start_time = time.monotonic()
     delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
+    start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
     assert (time.monotonic() - start_time) >= sock_timeout*5
     assert isinstance(recvd, capnp._DynamicStructReader)

cereal/messaging/tests/test_pub_sub_master.py

@@ -2,11 +2,10 @@ import random
 import time
 from typing import Sized, cast
 
-import openpilot.cereal.messaging as messaging
-from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+import cereal.messaging as messaging
+from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
-from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
@@ -27,9 +26,7 @@ class TestSubMaster:
     sm = messaging.SubMaster(socks)
     assert sm.frame == -1
     assert not any(sm.updated.values())
-    assert not any(sm.seen.values())
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
-    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
+    assert not any(sm.alive.values())
     assert all(t == 0. for t in sm.recv_time.values())
     assert all(f == 0 for f in sm.recv_frame.values())
     assert all(t == 0 for t in sm.logMonoTime.values())
@@ -86,7 +83,6 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
-        "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():

cereal/messaging/tests/test_services.py

@@ -0,0 +1,21 @@
+import os
+import tempfile
+from typing import Dict
+from parameterized import parameterized
+
+import cereal.services as services
+from cereal.services import SERVICE_LIST
+
+
+class TestServices:
+
+  @parameterized.expand(SERVICE_LIST.keys())
+  def test_services(self, s):
+    service = SERVICE_LIST[s]
+    assert service.frequency <= 104
+    assert service.decimation != 0
+
+  def test_generated_header(self):
+    with tempfile.NamedTemporaryFile(suffix=".h") as f:
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      assert ret == 0, "generated services header is not valid C"

cereal/messaging/tests/validate_sp_cereal_upstream.py

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

cereal/services.py

@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+from typing import Optional
+
+
+class Service:
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
+    self.should_log = should_log
+    self.frequency = frequency
+    self.decimation = decimation
+
+
+_services: dict[str, tuple] = {
+  # service: (should_log, frequency, qlog decimation (optional))
+  # note: the "EncodeIdx" packets will still be in the log
+  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
+  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
+  "temperatureSensor2": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "touch": (True, 20., 1),
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10),
+  "selfdriveState": (True, 100., 10),
+  "pandaStates": (True, 10., 1),
+  "peripheralState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (False, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100., 139),
+  "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
+  "liveCalibration": (True, 4., 4),
+  "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
+  "androidLog": (True, 0.),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 10),
+  "driverAssistance": (True, 20., 20),
+  "procLog": (True, 0.5, 15),
+  "gpsLocationExternal": (True, 10., 10),
+  "gpsLocation": (True, 1., 1),
+  "ubloxGnss": (True, 10.),
+  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
+  "clocks": (True, 0.1, 1),
+  "ubloxRaw": (True, 20.),
+  "livePose": (True, 20., 4),
+  "liveParameters": (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),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, 20., 10),
+  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20.),
+  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
+  "qRoadEncodeIdx": (False, 20.),
+  "userFlag": (True, 0., 1),
+  "microphone": (True, 10., 10),
+
+  # sunnypilot
+  "modelManagerSP": (False, 1., 1),
+  "backupManagerSP": (False, 1., 1),
+  "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
+  "carParamsSP": (True, 0.02, 1),
+  "carControlSP": (True, 100., 10),
+
+  # debug
+  "uiDebug": (True, 0., 1),
+  "testJoystick": (True, 0.),
+  "alertDebug": (True, 20., 5),
+  "roadEncodeData": (False, 20.),
+  "driverEncodeData": (False, 20.),
+  "wideRoadEncodeData": (False, 20.),
+  "qRoadEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
+}
+SERVICE_LIST = {name: Service(*vals) for
+                idx, (name, vals) in enumerate(_services.items())}
+
+
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+
+  h += "#include <map>\n"
+  h += "#include <string>\n"
+
+  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation)
+  h += "};\n"
+
+  h += "#endif\n"
+  return h
+
+
+if __name__ == "__main__":
+  print(build_header())

codecov.yml

@@ -0,0 +1,13 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
+ignore:
+  - "**/test_*.py"
+  - "selfdrive/test/**"
+  - "system/version.py" # codecov changes depending on if we are in a branch or not
+  - "tools"

common/.gitignore

@@ -0,0 +1 @@
+*.cpp

common/SConscript

@@ -0,0 +1,39 @@
+Import('env', 'envCython', 'arch')
+
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'i2c.cc',
+  'watchdog.cc',
+  'ratekeeper.cc'
+]
+
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
+_common = env.Library('common', common_libs, LIBS="json11")
+
+files = [
+  'clutil.cc',
+]
+
+_gpucommon = env.Library('gpucommon', files)
+Export('_common', '_gpucommon')
+
+if GetOption('extras'):
+  env.Program('tests/test_common',
+              ['tests/test_runner.cc', 'tests/test_params.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'])
+
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]
+
+Export('common_python')

common/api/__init__.py

@@ -0,0 +1,22 @@
+from openpilot.common.api.comma_connect import CommaConnectApi
+
+
+class Api:
+  def __init__(self, dongle_id):
+    self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)
+
+  def get(self, *args, **kwargs):
+    return self.service.get(*args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.service.post(*args, **kwargs)
+
+  def get_token(self, expiry_hours=1):
+    return self.service.get_token(expiry_hours)
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)

common/api/base.py

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

common/basedir.py

@@ -0,0 +1,4 @@
+import os
+
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

common/clutil.cc

@@ -0,0 +1,98 @@
+#include "common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+namespace {  // helper functions
+
+template <typename Func, typename Id, typename Name>
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+  size_t size = 0;
+  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+  std::string info(size, '\0');
+  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+  return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+  size_t work_group_size = 0;
+  cl_device_type device_type = 0;
+  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+  const char *type_str = "Other...";
+  switch (device_type) {
+    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+  }
+
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
+}  // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  cl_uint num_platforms = 0;
+  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
+  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+  for (size_t i = 0; i < num_platforms; ++i) {
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
+    // Get first device
+    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+      cl_print_info(platform_ids[i], device_id);
+      return device_id;
+    }
+  }
+  LOGE("No valid openCL platform found");
+  assert(0);
+  return nullptr;
+}
+
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}

common/clutil.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/conversions.py

@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

common/dict_helpers.py

@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d

common/ffi_wrapper.py

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

common/file_helpers.py

@@ -0,0 +1,58 @@
+import io
+import os
+import tempfile
+import contextlib
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+@contextlib.contextmanager
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
+                        overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)
+
+  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)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size

common/filter_simple.py

@@ -0,0 +1,18 @@
+class FirstOrderFilter:
+  # first order filter
+  def __init__(self, x0, rc, dt, initialized=True):
+    self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
+
+  def update(self, x):
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x

common/git.py

@@ -0,0 +1,42 @@
+from functools import cache
+import subprocess
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
+
+
+@cache
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
+
+
+@cache
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
+
+
+@cache
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
+
+
+@cache
+def get_origin(cwd: str = None) -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    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) -> str:
+  return get_origin(cwd) \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)

common/gpio.cc

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

common/gpio.h

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

common/gpio.py

@@ -0,0 +1,54 @@
+import os
+from functools import cache
+
+def gpio_init(pin: int, output: bool) -> None:
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+def gpio_set(pin: int, high: bool) -> None:
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+def gpio_read(pin: int) -> bool | None:
+  val = None
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
+      val = bool(int(f.read().strip()))
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+  return val
+
+def gpio_export(pin: int) -> None:
+  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
+    return
+
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@cache
+def get_irq_action(irq: int) -> list[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
+      actions = f.read().strip().split(',')
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> list[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
+        ret.append(irq)
+  return ret

common/i2c.cc

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

common/i2c.h

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

common/logging_extra.py

@@ -199,6 +199,7 @@ class SwagLogger(logging.Logger):
       co = f.f_code
       filename = os.path.normcase(co.co_filename)
 
+      # TODO: is this pylint exception correct?
       if filename == _srcfile:
         f = f.f_back
         continue

common/mat.h

@@ -0,0 +1,85 @@
+#pragma once
+
+typedef struct vec3 {
+  float v[3];
+} vec3;
+
+typedef struct vec4 {
+  float v[4];
+} vec4;
+
+typedef struct mat3 {
+  float v[3*3];
+} mat3;
+
+typedef struct mat4 {
+  float v[4*4];
+} mat4;
+
+static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
+  mat3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      float v = 0.0;
+      for (int k=0; k<3; k++) {
+        v += a.v[r*3+k] * b.v[k*3+c];
+      }
+      ret.v[r*3+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
+  vec3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      ret.v[r] += a.v[r*3+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+static inline mat4 matmul(const mat4 &a, const mat4 &b) {
+  mat4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      float v = 0.0;
+      for (int k=0; k<4; k++) {
+        v += a.v[r*4+k] * b.v[k*4+c];
+      }
+      ret.v[r*4+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
+  vec4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      ret.v[r] += a.v[r*4+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+// scales the input and output space of a transformation matrix
+// that assumes pixel-center origin.
+static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
+  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
+
+  mat3 transform_out = {{
+    1.0f/s, 0.0f, 0.5f,
+    0.0f, 1.0f/s, 0.5f,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  mat3 transform_in = {{
+    s,  0.0f, -0.5f*s,
+    0.0f, s, -0.5f*s,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  return matmul3(transform_in, matmul3(in, transform_out));
+}