Merge branch 'refs/heads/model-manager-improvements' into model-selector-multi-runner-debug-model-download

Previously, the button's state update was misplaced, leading to potential issues with its interactive availability. The logic has been adjusted to ensure it is properly enabled or disabled based on onroad status and download progress. This change improves UX consistency and prevents unintended actions.

.codespellignore

@@ -1,3 +1,2 @@
 Wen
 REGIST
-PullRequest

.gitattributes

@@ -3,6 +3,8 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+*.thneed filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text

.github/PULL_REQUEST_TEMPLATE/bugfix.md

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

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/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/PULL_REQUEST_TEMPLATE/fingerprint.md

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

.github/PULL_REQUEST_TEMPLATE/refactor.md

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

.github/PULL_REQUEST_TEMPLATE/tuning.md

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

.github/build.py

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

.github/labeler.yaml

@@ -24,4 +24,4 @@ multilanguage:
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/release-drafter.yml

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

.github/workflows/release-drafter.yml

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

.github/workflows/selfdrive_tests.yaml

@@ -67,7 +67,15 @@ jobs:
       timeout-minutes: 1
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
+    - name: Static analysis
+      timeout-minutes: 1
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp pyproject.toml $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
     runs-on:
@@ -322,7 +330,7 @@ jobs:
       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"
+                        CI=1 pytest 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
@@ -344,7 +352,7 @@ jobs:
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&

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

@@ -18,18 +18,6 @@ on:
         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: false
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
   build_model:
@@ -49,15 +37,12 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-master-new
+            scons-${{ runner.os }}-${{ runner.arch }}-master
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Setup build environment
@@ -84,8 +69,6 @@ jobs:
         run: |
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
-          
-          # Copy the model files
           rsync -avm \
             --include='*.dlc' \
             --include='*.thneed' \
@@ -95,36 +78,6 @@ jobs:
             --delete-excluded \
             --chown=comma:comma \
             ./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
         uses: actions/upload-artifact@v4

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

@@ -51,10 +51,9 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ 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 }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ 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 }}
@@ -120,7 +119,6 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Panda
         run: |
@@ -189,11 +187,6 @@ jobs:
           name: prebuilt
           path: prebuilt.tar.gz
 
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}

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

@@ -1,162 +0,0 @@
-name: Nightly Branch Reset and PR Squash
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
-  PR_LABEL: "dev-c3"
-
-on:
-  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
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          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 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: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
-          
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ 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/ui_preview.yaml

@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""

.gitignore

@@ -74,9 +74,7 @@ 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
+sunnypilot/modeld/thneed/compile
 
 *.bz2
 *.zst

.gitmodules

@@ -1,11 +1,9 @@
 [submodule "panda"]
   path = panda
   url = https://github.com/sunnyhaibin/panda.git
-  branch = tn
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
-  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

Jenkinsfile

@@ -103,7 +103,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             def diffPaths = args.diffPaths ?: []
             def cmdTimeout = args.timeout ?: 9999
 
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
               println "Skipping ${name}: no changes in ${diffPaths}."
               return
             } else {
@@ -170,7 +170,7 @@ node {
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
+  if (env.BRANCH_NAME != 'master') {
     properties([
         disableConcurrentBuilds(abortPrevious: true)
     ])

RELEASES.md

@@ -1,22 +1,16 @@
-Version 0.9.8 (2025-02-27)
+Version 0.9.8 (2024-XX-XX)
 ========================
 * New driving model
-  * Model now gates applying positive acceleration in Chill mode
+  * Trained in brand new ML simulator
+  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
   * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
+  * More GPU time for driving models
+  * Power draw reduced 0.5W, which means your device runs cooler 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
-* FIREHOSE mode
-  * Allows you to maximize your training data uploads to improve the models
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
-* Coming soon
-  * Rivian support
-  * F-150 & Mach-E support
-  * Tesla Model 3 support
-
 
 Version 0.9.7 (2024-06-13)
 ========================

SConstruct

@@ -49,6 +49,10 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
@@ -361,7 +365,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')
 
 
@@ -373,6 +377,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',

cereal/README.md

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

cereal/custom.capnp

@@ -7,26 +7,24 @@ $Cxx.namespace("cereal");
 # These structs are guaranteed to remain reserved and empty in mainline
 # cereal, so use these if you want custom events in your fork.
 
-# DO rename the structs
-# 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;
-  }
-}
-
+# you can rename the struct, but don't change the identifier
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+
+  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 ModelManagerSP @0xaedffd8f31e7b55d {
@@ -66,11 +64,10 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
-
+  
   enum Runner {
     snpe @0;
     tinygrad @1;
-    stock @2;
   }
 
   struct ModelBundle {
@@ -81,74 +78,19 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     status @4 :DownloadStatus;
     generation @5 :UInt32;
     environment @6 :Text;
-    runner @7 :Runner;
-    is20hz @8 :Bool;
   }
 }
 
-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  dec @0 :DynamicExperimentalControl;
-  accelPersonality @1 :AccelerationPersonality;
-
-  struct DynamicExperimentalControl {
-    state @0 :DynamicExperimentalControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-
-    enum DynamicExperimentalControlState {
-      acc @0;
-      blended @1;
-    }
-  }
-
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-    stock @3;
-  }
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }
 
-struct OnroadEventSP @0xda96579883444c35 {
-  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;
-  }
+struct CustomReserved3 @0xda96579883444c35 {
 }
 
-struct CarParamsSP @0x80ae746ee2596b11 {
-  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
+struct CustomReserved4 @0x80ae746ee2596b11 {
 }
 
-struct CarControlSP @0xa5cd762cd951a455 {
-  mads @0 :ModularAssistiveDrivingSystem;
+struct CustomReserved5 @0xa5cd762cd951a455 {
 }
 
 struct CustomReserved6 @0xf98d843bfd7004a3 {
@@ -162,33 +104,3 @@ 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/log.capnp

@@ -125,6 +125,79 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    eventReserved93 @93;
+    eventReserved94 @94;
+    eventReserved95 @95;
+    eventReserved96 @96;
+    eventReserved97 @97;
+    eventReserved98 @98;
+    eventReserved99 @99;
+    eventReserved100 @100;
+    eventReserved101 @101;
+    eventReserved102 @102;
+    eventReserved103 @103;
+    eventReserved104 @104;
+    eventReserved105 @105;
+    eventReserved106 @106;
+    eventReserved107 @107;
+    eventReserved108 @108;
+    eventReserved109 @109;
+    eventReserved110 @110;
+    eventReserved111 @111;
+    eventReserved112 @112;
+    eventReserved113 @113;
+    eventReserved114 @114;
+    eventReserved115 @115;
+    eventReserved116 @116;
+    eventReserved117 @117;
+    eventReserved118 @118;
+    eventReserved119 @119;
+    eventReserved120 @120;
+    eventReserved121 @121;
+    eventReserved122 @122;
+    eventReserved123 @123;
+    eventReserved124 @124;
+    eventReserved125 @125;
+    eventReserved126 @126;
+    eventReserved127 @127;
+    eventReserved128 @128;
+    eventReserved129 @129;
+    eventReserved130 @130;
+    eventReserved131 @131;
+    eventReserved132 @132;
+    eventReserved133 @133;
+    eventReserved134 @134;
+    eventReserved135 @135;
+    eventReserved136 @136;
+    eventReserved137 @137;
+    eventReserved138 @138;
+    eventReserved139 @139;
+    eventReserved140 @140;
+    eventReserved141 @141;
+    eventReserved142 @142;
+    eventReserved143 @143;
+    eventReserved144 @144;
+    eventReserved145 @145;
+    eventReserved146 @146;
+    eventReserved147 @147;
+    eventReserved148 @148;
+    eventReserved149 @149;
+    eventReserved150 @150;
+
+    # sunnypilot
+    lkasEnable @151;
+    lkasDisable @152;
+    manualSteeringRequired @153;
+    manualLongitudinalRequired @154;
+    silentLkasEnable @155;
+    silentLkasDisable @156;
+    silentBrakeHold @157;
+    silentWrongGear @158;
+    silentReverseGear @159;
+    silentDoorOpen @160;
+    silentSeatbeltNotLatched @161;
+    silentParkBrake @162;
+    controlsMismatchLateral @163;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -409,7 +482,6 @@ struct GpsLocationData {
   speedAccuracy @12 :Float32;
 
   hasFix @13 :Bool;
-  satelliteCount @14 :Int8;
 
   enum SensorSource {
     android @0;
@@ -590,6 +662,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -697,7 +770,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2554,37 +2626,21 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
-    # *********** Custom: reserved for forks ***********
-
-    # DO change the name of the field
-    # DON'T change anything after the "@"
     customReservedRawData0 @124 :Data;
     customReservedRawData1 @125 :Data;
     customReservedRawData2 @126 :Data;
 
-    # DO change the name of the field and struct
-    # DON'T change the ID (e.g. @107)
-    # DON'T change which struct it points to
+    # *********** Custom: reserved for forks ***********
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    onroadEventsSP @110 :List(Custom.OnroadEventSP);
-    carParamsSP @111 :Custom.CarParamsSP;
-    carControlSP @112 :Custom.CarControlSP;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
-    customReserved10 @136 :Custom.CustomReserved10;
-    customReserved11 @137 :Custom.CustomReserved11;
-    customReserved12 @138 :Custom.CustomReserved12;
-    customReserved13 @139 :Custom.CustomReserved13;
-    customReserved14 @140 :Custom.CustomReserved14;
-    customReserved15 @141 :Custom.CustomReserved15;
-    customReserved16 @142 :Custom.CustomReserved16;
-    customReserved17 @143 :Custom.CustomReserved17;
-    customReserved18 @144 :Custom.CustomReserved18;
-    customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated

cereal/maptile.capnp

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

cereal/messaging/bridge.cc

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

cereal/services.py

@@ -29,7 +29,7 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 20),
+  "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
@@ -53,15 +53,15 @@ _services: dict[str, tuple] = {
   "livePose": (True, 20., 4),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
+  "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 20),
+  "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20.),
@@ -77,10 +77,6 @@ _services: dict[str, tuple] = {
   # sunnypilot
   "modelManagerSP": (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),

common/clutil.cc

@@ -79,10 +79,6 @@ cl_context cl_create_context(cl_device_id device_id) {
   return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }
 
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
   return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }

common/clutil.h

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

common/file_helpers.py

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

common/logging_extra.py

@@ -8,7 +8,6 @@ import uuid
 import socket
 import logging
 import traceback
-import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -16,8 +15,6 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
 
 def json_handler(obj):
-  if isinstance(obj, np.bool_):
-    return bool(obj)
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
   return repr(obj)

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "Not Too Shabby (Default)"

common/params.cc

@@ -89,7 +89,6 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -120,7 +119,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
     {"ExperimentalMode", PERSISTENT | BACKUP},
     {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
@@ -135,6 +133,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
+    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
@@ -203,15 +202,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
 
     // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
-    {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
@@ -231,21 +222,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
-
-    // sunnypilot car specific params
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
-
-    {"DynamicExperimentalControl", PERSISTENT},
-    {"ToyotaAutoHold", PERSISTENT},
-    {"ToyotaEnhancedBsm", PERSISTENT},
-    {"ToyotaTSS2Long", PERSISTENT},
-    {"FastTakeOff", PERSISTENT},
-    {"AccelPersonality", PERSISTENT},
-    {"ToyotaDriveMode", PERSISTENT},
-    {"RainbowMode", PERSISTENT},
 };
 
 } // namespace

common/pid.py

@@ -1,6 +1,9 @@
 import numpy as np
 from numbers import Number
 
+from openpilot.common.numpy_fast import clip, interp
+
+
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
@@ -25,15 +28,15 @@ class PIDController:
 
   @property
   def k_p(self):
-    return np.interp(self.speed, self._k_p[0], self._k_p[1])
+    return interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return np.interp(self.speed, self._k_i[0], self._k_i[1])
+    return interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return np.interp(self.speed, self._k_d[0], self._k_d[1])
+    return interp(self.speed, self._k_d[0], self._k_d[1])
 
   @property
   def error_integral(self):
@@ -61,10 +64,10 @@ class PIDController:
 
         # Clip i to prevent exceeding control limits
         control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
-    self.control = np.clip(control, self.neg_limit, self.pos_limit)
+    self.control = clip(control, self.neg_limit, self.pos_limit)
     return self.control

common/realtime.py

@@ -27,6 +27,11 @@ class Priority:
   CTRL_HIGH = 53
 
 
+def set_realtime_priority(level: int) -> None:
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+
+
 def set_core_affinity(cores: list[int]) -> None:
   if not PC:
     os.sched_setaffinity(0, cores)
@@ -34,8 +39,7 @@ def set_core_affinity(cores: list[int]) -> None:
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
+  set_realtime_priority(priority)
   c = cores if isinstance(cores, list) else [cores, ]
   set_core_affinity(c)
 

common/swaglog.cc

@@ -26,9 +26,6 @@ public:
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
     zmq_connect(sock, Path::swaglog_ipc().c_str());
 
-    // workaround for https://github.com/dropbox/json11/issues/38
-    setlocale(LC_NUMERIC, "C");
-
     print_level = CLOUDLOG_WARNING;
     if (const char* print_lvl = getenv("LOGPRINT")) {
       if (strcmp(print_lvl, "debug") == 0) {

common/tests/test_numpy_fast.py

@@ -0,0 +1,21 @@
+import numpy as np
+
+from openpilot.common.numpy_fast import interp
+
+
+class TestInterp:
+  def test_correctness_controls(self):
+    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
+    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
+    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
+                 39.999999, 40, 41]
+
+    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+
+    np.testing.assert_equal(actual, expected)
+
+    for v_ego in v_ego_arr:
+      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+      np.testing.assert_equal(actual, expected)

common/util.cc

@@ -255,29 +255,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {
          strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
-std::string strip(const std::string &str) {
-  auto should_trim = [](unsigned char ch) {
-    // trim whitespace or a null character
-    return std::isspace(ch) || ch == '\0';
-  };
-
-  size_t start = 0;
-  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
-    start++;
-  }
-
-  if (start == str.size()) {
-    return "";
-  }
-
-  size_t end = str.size() - 1;
-  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
-    end--;
-  }
-
-  return str.substr(start, end - start + 1);
-}
-
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
@@ -294,17 +271,4 @@ std::string check_output(const std::string& command) {
   return result;
 }
 
-bool system_time_valid() {
-  // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
-  time_t min_date = mktime(&min_tm);
-
-  struct stat st;
-  if (stat("/lib/systemd/systemd", &st) == 0) {
-    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
-  }
-
-  return time(nullptr) > min_date;
-}
-
 }  // namespace util

common/util.h

@@ -74,7 +74,6 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
-std::string strip(const std::string &str);
 
 // ***** random helpers *****
 int random_int(int min, int max);
@@ -96,8 +95,6 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
-bool system_time_valid();
-
 inline void sleep_for(const int milliseconds) {
   if (milliseconds > 0) {
     std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));

conftest.py

@@ -19,7 +19,6 @@ collect_ignore = [
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
   "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
 ]
 
 

docs/CARS.md

@@ -4,13 +4,13 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 290 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
@@ -56,7 +56,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -80,7 +79,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -88,11 +87,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -128,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
@@ -184,7 +183,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -260,7 +259,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -295,7 +294,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 

docs/CONTRIBUTING.md

@@ -63,12 +63,3 @@ A good pull request has all of the following:
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
-
-## Contributing Training Data
-
-### A guide for forks
-
-In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
-* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
-* **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/how-to/connect-to-comma.md

@@ -29,22 +29,6 @@ Here's an example command for connecting to your device using its tethered conne
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
-
-## ADB
-
-In order to use ADB on your device, you'll need to enable it in the device's settings.
-
-* Enable ADB in your device's settings
-* Connect to your device
-    * `adb shell` over USB
-    * `adb connect` over WiFi
-    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
-
-> [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
-
-For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
-
 ### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.8"
+  export AGNOS_VERSION="11.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -103,6 +103,7 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -111,11 +112,13 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-  "raylib",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 
@@ -134,7 +137,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=sunnypilot/tinygrad_repo/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -166,7 +169,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 

release/build_release.sh

@@ -75,7 +75,6 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
-rm sunnypilot/modeld*/models/supercombo.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +

release/ci/install_github_runner.sh

@@ -4,7 +4,6 @@ set -e
 # Default values
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
-RESTORE_MODE=false
 
 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -21,10 +20,6 @@ while [[ $# -gt 0 ]]; do
             REPO_URL="$2"
             shift 2
             ;;
-        --restore)
-            RESTORE_MODE=true
-            shift
-            ;;
         *)
             if [ -z "$GITHUB_TOKEN" ]; then
                 GITHUB_TOKEN="$1"
@@ -36,6 +31,19 @@ while [[ $# -gt 0 ]]; do
     esac
 done
 
+# Check required arguments
+if [ -z "$GITHUB_TOKEN" ]; then
+    echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
+    echo "Required argument: github_token"
+    echo "Optional arguments:"
+    echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+    echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+    exit 1
+fi
+
+# Set repository URL if not provided
+REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+
 # Determine BASE_DIR based on mount point
 if mountpoint -q /data/media; then
     BASE_DIR="/data/media/0/github"
@@ -52,78 +60,42 @@ LOGS_DIR="${BASE_DIR}/logs"
 CACHE_DIR="${BASE_DIR}/cache"
 OPENPILOT_DIR="${BASE_DIR}/openpilot"
 
-# Basic utility functions (no dependencies)
-remount_rw() {
-    sudo mount -o remount,rw /
+create_directories() {
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
 }
 
-remount_ro() {
-    sync || true  # Try to sync but continue even if it fails
-    sudo mount -o remount,ro /  # Always try to remount as read-only
+download_and_setup_runner() {
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
 }
 
-# Always ensure we try to remount as read-only on exit
-trap remount_ro EXIT
-
 setup_runner_user() {
     sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+    export BASE_DIR
+    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }
 
 create_sudoers_entry() {
     sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
 }
 
-set_directory_permissions() {
-    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod -R g+rwx "$BASE_DIR"
-    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
-}
-
-setup_directories() {
-    echo "Creating necessary directories..."
-    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-    mkdir -p "/data/openpilot"
-    sudo chown -R comma:comma "/data/openpilot"
-    sync
-}
-
-wipe_bash_logout() {
-  export BASE_DIR
-  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
-  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
-}
-
-# System configuration functions (depends on basic utility functions)
-setup_system_configs() {
-    echo "Setting up system configurations..."
-    remount_rw
-    setup_runner_user
-    create_sudoers_entry
-    remount_ro
-    set_directory_permissions
-    wipe_bash_logout
-}
-
-# Runner setup functions
-install_runner() {
-    echo "Downloading and setting up runner..."
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo chmod +x ./config.sh
-}
-
 configure_runner() {
-    remount_rw
-    echo "Configuring runner..."
     cd "$RUNNER_DIR"
     sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-    remount_ro
 }
 
-create_service_template() {
-    echo "Creating service template..."
+set_directory_permissions() {
+    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
+    sudo chmod g+rwx "$BASE_DIR"
+    sudo chmod g+s "$BASE_DIR"
+}
+
+modify_service_template() {
     cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
 [Unit]
 Description={{Description}}
@@ -148,115 +120,28 @@ WantedBy=multi-user.target
 EOL
 }
 
-install_service() {
-    remount_rw
-    echo "Installing systemd service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh install $RUNNER_USER
+# Make filesystem writable
+sudo mount -o remount,rw /
 
-    if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
-        sudo systemctl disable "${service_name}"
-    fi
-    remount_ro
-}
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount,ro /" EXIT
 
-check_restore_prerequisites() {
-    local needs_restore=false
-    local can_restore=false
-    local service_name=""
+# Execute installation steps
+setup_runner_user
+create_sudoers_entry
+create_directories
+download_and_setup_runner
+modify_service_template
+configure_runner
+set_directory_permissions
 
-    # Check if base runner directory exists
-    if [ ! -d "${RUNNER_DIR}" ]; then
-        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
-        echo "This directory is required for restore operations"
-        exit 1
-    fi
+# Install and start service using built-in installer
+cd "$RUNNER_DIR"
+sudo ./svc.sh install $RUNNER_USER
 
-    # First check if we have the required files for restoration
-    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
-        can_restore=true
-        service_name=$(cat "${RUNNER_DIR}/.service")
-        echo "Found required runner configuration files"
-    else
-        echo "Missing required runner configuration files"
-        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
-        exit 1
-    fi
+# Handle auto-start configuration
+if [ "$START_AT_BOOT" = false ]; then
+    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
+fi
 
-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
-    if ! id "${RUNNER_USER}" &>/dev/null; then
-        echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
-    fi
-
-    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
-        return 0
-    else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
-        exit 0
-    fi
-}
-
-perform_restore() {
-    echo "Starting runner restoration..."
-    setup_directories
-    setup_system_configs
-    install_service
-    echo "Runner restoration completed successfully"
-}
-
-perform_install() {
-    echo "Starting fresh installation..."
-    setup_directories
-    setup_system_configs
-    install_runner
-    set_directory_permissions
-    create_service_template
-    configure_runner
-    install_service
-    echo "Installation completed successfully"
-}
-
-main() {
-    if [ "$RESTORE_MODE" = true ]; then
-        echo "Running in restore mode - will only restore system configurations..."
-        check_restore_prerequisites
-        perform_restore
-    else
-        # Check required arguments for normal installation
-        if [ -z "$GITHUB_TOKEN" ]; then
-            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
-            echo "Required argument (except for --restore): github_token"
-            echo "Optional arguments:"
-            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
-            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
-            echo "  --restore         Restore existing runner configuration"
-            exit 1
-        fi
-
-        # Set repository URL if not provided
-        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
-        perform_install
-    fi
-
-    echo "Starting runner service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh start
-}
-
-main
+sudo ./svc.sh start

release/ci/squash_and_merge.py

@@ -117,7 +117,7 @@ def workspace_manager(original_branch: str):
         if temp_branch:
           run_command(f"git branch -D {temp_branch}")
         print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(3)
+        sys.exit(1)
 
       # First, switch back to original branch
       current = get_current_branch()
@@ -139,12 +139,12 @@ def workspace_manager(original_branch: str):
 
       if signum:
         print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(4)
+        sys.exit(1)
 
     except Exception as e:
       print(f"Error during cleanup: {e}")
       if signum:
-        sys.exit(5)
+        sys.exit(1)
 
   try:
     # Set up signal handlers
@@ -275,7 +275,7 @@ def squash_and_merge(source_branch: str, target_branch: str, manual_title: str |
         return False
 
       print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git rebase {temp_branch}")
+      code, _, error = run_command(f"git merge {temp_branch}")
 
       if code != 0:
         print(f"\nMerge failed with error: {error}")
@@ -344,7 +344,7 @@ def main():
   parser.add_argument('--push', action='store_true',
                       help='Push changes to remote after squashing')
 
-  args, unknown = parser.parse_known_args()
+  args = parser.parse_args()
 
   # Determine source branch early
   source_branch = args.source
@@ -354,7 +354,7 @@ def main():
       sys.exit(1)
 
   if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(2)
+    sys.exit(1)
 
 
 if __name__ == "__main__":

release/ci/squash_and_merge_prs.py

@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-
-import subprocess
-import sys
-import os
-import argparse
-import json
-from datetime import datetime
-
-
-def setup_argument_parser():
-    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
-    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-    parser.add_argument('--source-branch', type=str, default='master-new',
-                        help='Source branch for merging')
-    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
-                        help='Target branch for merging')
-    parser.add_argument('--squash-script-path', type=str, required=True,
-                        help='Path to the squash_and_merge.py script')
-    return parser
-
-
-def validate_squash_script(script_path):
-    if not os.path.isfile(script_path):
-        raise FileNotFoundError(f"Squash script not found at: {script_path}")
-    if not os.access(script_path, os.X_OK):
-        raise PermissionError(f"Squash script is not executable: {script_path}")
-
-
-def sort_prs_by_creation(pr_data):
-    """Sort PRs by creation date"""
-    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
-
-    return sorted(
-        nodes,
-        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
-    )
-
-
-def add_pr_comment(pr_number, comment):
-    """Add a comment to a PR using gh cli"""
-    try:
-        subprocess.run(
-            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
-            check=True,
-            capture_output=True,
-            text=True
-        )
-    except subprocess.CalledProcessError as e:
-        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
-
-
-def validate_pr(pr):
-    """Validate a PR and return (is_valid, skip_reason)"""
-    pr_number = pr.get('number', 'UNKNOWN')
-    branch = pr.get('headRefName', '')
-
-    if not branch:
-        return False, f"Missing branch name for PR #{pr_number}"
-
-    # Check if checks have passed
-    commits = pr.get('commits', {}).get('nodes', [])
-    if not commits:
-        return False, "No commit data found"
-
-    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
-    if not status or status.get('state') != 'SUCCESS':
-        return False, "Not all checks have passed"
-
-    # Check for merge conflicts
-    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
-    merge_data = json.loads(merge_status.stdout)
-    if not merge_data.get('mergeable'):
-        return False, "Merge conflicts detected"
-
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-        return False, f"Branch is `{mergeStateStatus}`"
-
-    return True, None
-
-
-def process_pr(pr_data, source_branch, target_branch, squash_script_path):
-    try:
-        nodes = sort_prs_by_creation(pr_data)
-        if not nodes:
-            print("No PRs to squash")
-            return 0
-
-        print(f"Deleting target branch {target_branch}")
-        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
-        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
-        success_count = 0
-        for pr in nodes:
-            pr_number = pr.get('number', 'UNKNOWN')
-            branch = pr.get('headRefName', '')
-            title = pr.get('title', '')
-            is_valid, skip_reason = validate_pr(pr)
-
-            if not is_valid:
-                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-                add_pr_comment(pr_number, f"⚠️ This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
-                continue
-
-            try:
-                # Fetch PR branch
-                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
-                # Delete branch if it exists (ignore errors if it doesn't)
-                subprocess.run(['git', 'branch', '-D', branch], check=False)
-                # Create new branch pointing to origin's branch
-                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
-
-                # Run squash script
-                subprocess.run([
-                    squash_script_path,
-                    '--target', target_branch,
-                    '--source', branch,
-                    '--title', f"{title} (#{pr_number})",
-                ], check=True)
-
-                print(f"Successfully processed PR #{pr_number}")
-                success_count += 1
-
-            except subprocess.CalledProcessError as e:
-                print(f"Error processing PR #{pr_number}:")
-                print(f"Command failed with exit code {e.returncode}")
-                error_output = getattr(e, 'stderr', 'No error output available')
-                print(f"Error output: {error_output}")
-                add_pr_comment(pr_number, f"⚠️ Error during automated {target_branch} squash:\n```\n{error_output}\n```")
-                continue
-            except Exception as e:
-                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
-                continue
-
-        return success_count
-
-    except Exception as e:
-        import traceback
-        print(f"Error in process_pr: {str(e)}")
-        print("Full traceback:")
-        print(traceback.format_exc())
-        return 0
-
-
-def main():
-    parser = setup_argument_parser()
-    try:
-        args = parser.parse_args()
-        validate_squash_script(args.squash_script_path)
-        pr_data_json = json.loads(args.pr_data)
-
-        # Process the PRs
-        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
-        print(f"Successfully processed {success_count} PRs")
-
-    except Exception as e:
-        print(f"Fatal error: {str(e)}", file=sys.stderr)
-        return 1
-
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())

release/release_files.py

@@ -6,11 +6,41 @@ from pathlib import Path
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = HERE + "/.."
 
+# blacklisting is for two purposes:
+# - minimizing release download size
+# - keeping the diff readable
 blacklist = [
-  ".git/",
+  "panda/drivers/",
+  "panda/examples/",
+  "panda/tests/safety/",
+
+  "opendbc_repo/dbc/.*.dbc$",
+  "opendbc_repo/dbc/generator/",
+
+  "cereal/.*test.*",
+  "^common/tests/",
+
+  # particularly large text files
+  "uv.lock",
+  "third_party/catch2",
+  "selfdrive/car/tests/test_models.*",
+
+  "^tools/",
+  "^tinygrad_repo/",
 
   "matlab.*.md",
 
+  ".git/",
+  ".github/",
+  ".devcontainer/",
+  "Darwin/",
+  ".vscode",
+
+  # common things
+  "LICENSE",
+  "Dockerfile",
+  ".pre-commit",
+
   # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
@@ -18,10 +48,153 @@ blacklist = [
   ".gitmodules",
 ]
 
-# gets you through the blacklist
-whitelist: list[str] = [
+# Sunnypilot blacklist
+sunnypilot_blacklist = [
+  "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
+  ".idea/",
+  ".run/",
+  ".*__pycache__/.*",
+  ".*\\.pyc",
+  "teleoprtc/*",
+  "third_party/snpe/x86_64/*",
+  "body/board/canloader.py",
+  "body/board/flash_base.sh",
+  "body/board/flash_knee.sh",
+  "body/board/recover.sh",
+  ".*/test/",
+  ".*/tests/",
+  ".*tinygrad_repo/tinygrad/renderer/",
+  "README.md",
+  ".*internal/",
+  "docs/.*",
+  ".sconsign.dblite",
+  "release/ci/scons_cache/",
+  ".gitlab-ci.yml",
+  ".clang-tidy",
+  ".dockerignore",
+  ".editorconfig",
+  ".python-version",
+  "SECURITY.md",
+  "codecov.yml",
+  "conftest.py",
+  "poetry.lock",
+  ".venv/",
 ]
 
+# Merge the blacklists
+blacklist += sunnypilot_blacklist
+
+# gets you through the blacklist
+whitelist = [
+  "tools/lib/",
+  "tools/bodyteleop/",
+  "tools/joystick/",
+  "tools/longitudinal_maneuvers/",
+
+  "tinygrad_repo/examples/openpilot/compile3.py",
+  "tinygrad_repo/extra/onnx.py",
+  "tinygrad_repo/extra/onnx_ops.py",
+  "tinygrad_repo/extra/thneed.py",
+  "tinygrad_repo/extra/utils.py",
+  "tinygrad_repo/tinygrad/codegen/kernel.py",
+  "tinygrad_repo/tinygrad/codegen/linearizer.py",
+  "tinygrad_repo/tinygrad/features/image.py",
+  "tinygrad_repo/tinygrad/features/search.py",
+  "tinygrad_repo/tinygrad/nn/*",
+  "tinygrad_repo/tinygrad/renderer/cstyle.py",
+  "tinygrad_repo/tinygrad/renderer/opencl.py",
+  "tinygrad_repo/tinygrad/runtime/lib.py",
+  "tinygrad_repo/tinygrad/runtime/ops_cpu.py",
+  "tinygrad_repo/tinygrad/runtime/ops_disk.py",
+  "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
+  "tinygrad_repo/tinygrad/shape/*",
+  "tinygrad_repo/tinygrad/.*.py",
+
+  # TODO: do this automatically
+  "opendbc_repo/dbc/comma_body.dbc",
+  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
+  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
+  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
+  "opendbc_repo/dbc/gm_global_a_object.dbc",
+  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
+  "opendbc_repo/dbc/FORD_CADS.dbc",
+  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
+  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
+  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
+  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
+  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
+  "opendbc_repo/dbc/hyundai_canfd.dbc",
+  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
+  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
+  "opendbc_repo/dbc/mazda_2017.dbc",
+  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
+  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
+  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
+  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_adas.dbc",
+  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
+  "opendbc_repo/dbc/vw_golf_mk4.dbc",
+  "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
+]
+
+# Sunnypilot whitelist
+sunnypilot_whitelist = [
+  "^README.md",
+  ".*selfdrive/test/fuzzy_generation.py",
+  ".*selfdrive/test/helpers.py",
+  ".*selfdrive/test/__init__.py",
+  ".*selfdrive/test/setup_device_ci.sh",
+  ".*selfdrive/test/test_time_to_onroad.py",
+  ".*selfdrive/test/test_onroad.py",
+  ".*system/manager/test/test_manager.py",
+  ".*system/manager/test/__init__.py",
+  ".*system/qcomgpsd/tests/test_qcomgpsd.py",
+  ".*system/updated/casync/tests/test_casync.py",
+  ".*system/updated/tests/test_git.py",
+  ".*system/updated/tests/test_base.py",
+  ".*selfdrive/ui/tests/test_translations.py",
+  ".*selfdrive/car/tests/__init__.py",
+  ".*selfdrive/car/tests/test_car_interfaces.py",
+  ".*selfdrive/navd/tests/test_navd.py",
+  ".*selfdrive/navd/tests/test_map_renderer.py",
+  ".*selfdrive/boardd/tests/test_boardd_loopback.py",
+  ".*INTEGRATION.md",
+  ".*HOW-TOS.md",
+  ".*CARS.md",
+  ".*LIMITATIONS.md",
+  ".*CONTRIBUTING.md",
+  ".*sunnyhaibin0850_qrcode_paypal.me.png",
+  "opendbc/.*.dbc",
+]
+
+# Merge the whitelists
+whitelist += sunnypilot_whitelist
+
 
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):

scripts/build_small.sh

@@ -0,0 +1,39 @@
+#!/usr/bin/env bash
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# git clone --mirror
+SRC=/tmp/openpilot.git/
+OUT=/tmp/smallpilot/
+
+echo "starting size $(du -hs .git/)"
+
+rm -rf $OUT
+
+cd $SRC
+git remote update
+
+# copy contents
+#rsync -a --exclude='.git/' $DIR $OUT
+
+cp -r $SRC $OUT
+
+cd $OUT
+
+# remove all tags
+git tag -l | xargs git tag -d
+
+# remove non-master branches
+BRANCHES="release2 release3 devel master-ci nightly"
+for branch in $BRANCHES; do
+  git branch -D $branch
+  git branch -D ${branch}-staging || true
+done
+
+#git gc
+git reflog expire --expire=now --all
+git gc --prune=now
+git gc --aggressive --prune=now
+echo "new one is $(du -hs .)"

scripts/code_stats.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import os
+import ast
+import stat
+import subprocess
+
+fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
+
+pyf = []
+for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
+  for root, _, files in os.walk(d):
+    for f in files:
+      if f.endswith(".py"):
+        pyf.append(os.path.join(root, f))
+
+imps: set[str] = set()
+
+class Analyzer(ast.NodeVisitor):
+  def visit_Import(self, node):
+    for alias in node.names:
+      imps.add(alias.name)
+    self.generic_visit(node)
+
+  def visit_ImportFrom(self, node):
+    imps.add(node.module)
+    self.generic_visit(node)
+
+tlns = 0
+carlns = 0
+scriptlns = 0
+testlns = 0
+for f in sorted(pyf):
+  if f not in fouts:
+    continue
+  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
+  src = open(f).read()
+  lns = len(src.split("\n"))
+  tree = ast.parse(src)
+  Analyzer().visit(tree)
+  print(f"{lns:5d} {f} {xbit}")
+  if 'test' in f:
+    testlns += lns
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
+    scriptlns += lns
+  elif f.startswith('selfdrive/car'):
+    carlns += lns
+  else:
+    tlns += lns
+
+print(f"{tlns} lines of openpilot python")
+print(f"{carlns} lines of car ports")
+print(f"{scriptlns} lines of tools/scripts/debug")
+print(f"{testlns} lines of tests")
+#print(sorted(list(imps)))

scripts/count_cars.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+from collections import Counter
+from pprint import pprint
+
+from opendbc.car.docs import get_all_car_docs
+
+if __name__ == "__main__":
+  cars = get_all_car_docs()
+  make_count = Counter(l.make for l in cars)
+  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
+  pprint(make_count)

scripts/git_rewrite/rewrite-git-history.sh

@@ -0,0 +1,391 @@
+#!/usr/bin/env bash
+set -e
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1 > /dev/null 2>&1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files" > /dev/null
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
+  cd $SRC_CLONE
+  > rewrite-branches-done
+
+  # empty file
+  > $BRANCH_DIFF_LOG
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
+  cd $SRC_CLONE
+  > validation-done
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+
+  # empty file
+  > $COMMIT_DIFF_LOG
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
+
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/rewrite.sh

@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+git clone --bare https://github.com/commaai/openpilot
+cp -r openpilot.git openpilot_backup
+cd openpilot.git
+
+# backup old repo
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
+git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
+git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
+git push --mirror git@github.com:commaai/openpilot-archive.git
+
+# ignore all release branches
+git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
+
+# re-tag old releases on master
+declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
+for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
+
+# get master root commit
+ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
+
+# link master and devel
+git replace --graft $ROOT_COMMIT v0.7.1
+git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
+
+# delete replace refs
+git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
+
+# machine validation
+tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
+# human validation
+less /tmp/GIT_HASH
+
+# cleanup
+git reflog expire --expire=now --all
+git gc --prune=now --aggressive
+
+# get all lfs files
+set +e
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git lfs fetch --all
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git lfs fetch --all
+set -e
+
+# add new files to lfs
+git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
+
+# set new lfs endpoint
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+
+# push all branch+tag (scary stuff...)
+git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/tag-commit-map.txt

@@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
+v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
+v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
+v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
+v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
+v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
+v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
+v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
+v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
+v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
+v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
+v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
+v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
+v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
+v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
+v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
+v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
+v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
+v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
+v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
+v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
+v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
+v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
+v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
+v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
+v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
+v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
+v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
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+v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee

scripts/jenkins_loop_test.sh

@@ -1,145 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-YELLOW='\033[0;33m'
-GREEN='\033[0;32m'
-UNDERLINE='\033[4m'
-BOLD='\033[1m'
-NC='\033[0m'
-
-BRANCH="master"
-RUNS="20"
-
-COOKIE_JAR=/tmp/cookies
-CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)')
-
-function loop() {
-  JENKINS_BRANCH="__jenkins_loop_${BRANCH}"
-  API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
-
-  for run in $(seq 1 $((RUNS / 2))); do
-
-    N=2
-    TEST_BUILDS=()
-
-    # Try to find previous builds
-    ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) )
-
-    # No builds. Create branch
-    if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then
-      TEMP_DIR=$(mktemp -d)
-      GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR
-      git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH
-      echo "TESTING" >> $TEMP_DIR/testing_jenkins
-      git -C $TEMP_DIR add testing_jenkins
-      git -C $TEMP_DIR commit --quiet -m "testing"
-      git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH
-      rm -rf $TEMP_DIR
-      FIRST_BUILD=1
-      echo ''
-      echo 'waiting on Jenkins...'
-      echo ''
-      sleep 90
-    else
-      # Found some builds. Wait for them to end if they are still running
-      for i in ${ALL_BUILDS[@]}; do
-        running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress)
-        if [[ $running == "false" ]]; then
-          continue
-        fi
-        TEST_BUILDS=( ${ALL_BUILDS[@]} )
-        N=${#TEST_BUILDS[@]}
-        break
-      done
-    fi
-
-    # No running builds found
-    if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then
-      FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
-      LAST_BUILD=$((FIRST_BUILD+N-1))
-      TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
-
-      # Start N new builds
-      for i in ${TEST_BUILDS[@]};
-      do
-        echo "Starting build $i"
-        curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
-        sleep 5
-      done
-      echo ""
-    fi
-
-    # Wait for all builds to end
-    while true; do
-      sleep 30
-
-      count=0
-      for i in ${TEST_BUILDS[@]};
-      do
-        RES=$(curl -s -w "\n%{http_code}" --cookie $COOKIE_JAR -H "$CRUMB" $API_ROUTE/$i/api/json)
-        HTTP_CODE=$(tail -n1 <<< "$RES")
-        JSON=$(sed '$ d' <<< "$RES")
-
-        if [[ $HTTP_CODE == "200" ]]; then
-          STILL_RUNNING=$(echo $JSON | jq .inProgress)
-          if [[ $STILL_RUNNING == "true" ]]; then
-            echo -e "Build $i: ${YELLOW}still running${NC}"
-            continue
-          else
-            count=$((count+1))
-            echo -e "Build $i: ${GREEN}done${NC}"
-          fi
-        else
-          echo "No status for build $i"
-        fi
-      done
-      echo "See live results: ${API_ROUTE}/buildTimeTrend"
-      echo ""
-
-      if [[ $count -ge $N ]]; then
-        break
-      fi
-    done
-
-  done
-}
-
-function usage() {
-  echo ""
-  echo "Run the Jenkins tests multiple times on a specific branch"
-  echo ""
-  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
-  echo -e "  ${BOLD}-n, --n${NC}"
-  echo -e "          Specify how many runs to do (default to ${BOLD}20${NC})"
-  echo -e "  ${BOLD}-b, --branch${NC}"
-  echo -e "          Specify which branch to run the tests against (default to ${BOLD}master${NC})"
-  echo ""
-}
-
-function _looper() {
-  if [[ $# -eq 0 ]]; then
-    usage
-    exit 0
-  fi
-
-  # parse Options
-  while [[ $# -gt 0 ]]; do
-    case $1 in
-      -n | --n ) shift 1; RUNS="$1"; shift 1 ;;
-      -b | --b | --branch | -branch ) shift 1; BRANCH="$1"; shift 1 ;;
-      * ) usage; exit 0 ;;
-    esac
-  done
-
-  echo ""
-  echo -e "You are about to start $RUNS Jenkins builds against the $BRANCH branch."
-  echo -e "If you expect this to run overnight, ${UNDERLINE}${BOLD}unplug the cold reboot power switch${NC} from the testing closet before."
-  echo ""
-  read -p "Press (y/Y) to confirm: " choice
-  if [[ "$choice" == "y" || "$choice" == "Y" ]]; then
-    loop
-  fi
-
-}
-
-_looper $@

scripts/lint/lint.sh

@@ -53,6 +53,7 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

scripts/manage-powersave.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import multiprocessing
-from openpilot.system.hardware import HARDWARE
-
-
-def main():
-  parser = argparse.ArgumentParser(description='Control power saving mode')
-  parser.add_argument('--enable', action='store_true', help='Enable power saving mode')
-  parser.add_argument('--disable', action='store_true', help='Disable power saving mode')
-  args = parser.parse_args()
-
-  if args.enable and args.disable:
-    parser.error("Cannot specify both --enable and --disable")
-  elif not (args.enable or args.disable):
-    parser.error("Must specify either --enable or --disable")
-
-  print(f"Number of CPU cores available before: [{multiprocessing.cpu_count()}]")
-  HARDWARE.set_power_save(args.enable)
-
-  state = "enabled" if args.enable else "disabled"
-  print(f"Power save mode set to: [{state}]")
-  print(f"Number of CPU cores available now: [{multiprocessing.cpu_count()}]")
-
-
-if __name__ == "__main__":
-  main()

scripts/pyqt_demo.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+
+from PyQt5.QtWidgets import QApplication, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+
+if __name__ == "__main__":
+  app = QApplication([])
+  label = QLabel('Hello World!')
+
+  # Set full screen and rotate
+  set_main_window(label)
+
+  app.exec_()

selfdrive/assets/offroad/icon_plus.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3f1c39a4e82adfb52d43fc0ad6773a70dbaa4fc79109a7d6b6c1f73b298eac
+size 2833

selfdrive/car/car_specific.py

@@ -42,16 +42,19 @@ class CarSpecificEvents:
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.brand in ('body', 'mock'):
+    if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.brand == 'ford':
+    elif self.CP.carName in ('subaru', 'mazda'):
+      events = self.create_common_events(CS, CS_prev)
+
+    elif self.CP.carName == 'ford':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
-    elif self.CP.brand == 'nissan':
+    elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.brand == 'chrysler':
+    elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
@@ -62,7 +65,7 @@ class CarSpecificEvents:
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.brand == 'honda':
+    elif self.CP.carName == 'honda':
       events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -83,7 +86,7 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
-    elif self.CP.brand == 'toyota':
+    elif self.CP.carName == 'toyota':
       events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
@@ -98,10 +101,14 @@ class CarSpecificEvents:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
-    elif self.CP.brand == 'gm':
+    elif self.CP.carName == 'gm':
+      # The ECM allows enabling on falling edge of set, but only rising edge of resume
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                    GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+      if not self.CP.pcmCruise:
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
+          events.add(EventName.buttonEnable)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -113,9 +120,10 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.brand == 'volkswagen':
+    elif self.CP.carName == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic
       if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
@@ -135,13 +143,13 @@ class CarSpecificEvents:
       # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
+    elif self.CP.carName == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
       self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
       events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -152,12 +160,12 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     else:
-      events = self.create_common_events(CS, CS_prev)
+      raise ValueError(f"Unsupported car: {self.CP.carName}")
 
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True):
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if CS.doorOpen:
@@ -201,14 +209,14 @@ class CarSpecificEvents:
       events.add(EventName.invalidLkasSetting)
     if CS.lowSpeedAlert:
       events.add(EventName.belowSteerSpeed)
-    if CS.buttonEnable:
-      events.add(EventName.buttonEnable)
 
-    # Handle cancel button presses
+    # Handle button presses
     for b in CS.buttonEvents:
+      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
+      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
+        events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
-      # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
-      if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
+      if b.type == ButtonType.cancel:
         events.add(EventName.buttonCancel)
 
     # Handle permanent and temporary steering faults

selfdrive/car/card.py

@@ -1,31 +1,28 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log, custom
+from cereal import car, log
+
+from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, structs
+from opendbc.car import DT_CTRL, carlog, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car import interfaces
 
 REPLAY = "REPLAY" in os.environ
 
@@ -68,18 +65,15 @@ class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
   CP: car.CarParams
-  CP_SP: structs.CarParamsSP
-  CP_SP_capnp: custom.CarParamsSP
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
 
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
-    self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -105,36 +99,25 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
-
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
-      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
-      self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
-      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
+      self.CI, self.CP = CI, CI.CP
       self.RI = RI
 
     # set alternative experiences from parameters
     disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-    if sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-
 
     # mads
     MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
-
-    # Dynamic Experimental Control
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+    MadsParams().set_car_specific_params(self.CP)
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
@@ -147,15 +130,6 @@ class Car:
       self.CP.safetyConfigs = [safety_config]
 
     if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
-      # Copy user key if available
-      try:
-        with open("/cache/params/SecOCKey") as f:
-          user_key = f.readline().strip()
-          if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
-      except Exception:
-        pass
-
       secoc_key = self.params.get("SecOCKey", encoding='utf8')
       if secoc_key is not None:
         saved_secoc_key = bytes.fromhex(secoc_key.strip())
@@ -178,14 +152,6 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    # Write CarParamsSP for controls
-    # convert to pycapnp representation for caching and logging
-    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
-    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-    self.params.put("CarParamsSP", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
-
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -195,9 +161,6 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    # log fingerprint in sentry
-    interfaces.log_fingerprint(self.CP)
-
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -206,7 +169,7 @@ class Car:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
-    if self.CP.brand == 'mock':
+    if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
@@ -223,12 +186,8 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
-
     # TODO: mirror the carState.cruiseState struct?
+    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
@@ -264,28 +223,20 @@ class Car:
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
-    # carParamsSP - logged every 50 seconds (> 1 per segment)
-    if self.sm.frame % int(50. / DT_CTRL) == 0:
-      cp_sp_send = messaging.new_message('carParamsSP')
-      cp_sp_send.valid = True
-      cp_sp_send.carParamsSP = self.CP_SP_capnp
-      self.pm.send('carParamsSP', cp_sp_send)
-
-  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
+      self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -293,24 +244,22 @@ class Car:
   def step(self):
     CS, RD = self.state_update()
 
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+
     self.state_publish(CS, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
+      self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
-    self.CS_prev = CS
 
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-
-      # sunnypilot
-      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
       time.sleep(0.1)
 
   def card_thread(self):

selfdrive/car/cruise.py

@@ -1,8 +1,8 @@
 import math
-import numpy as np
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -106,7 +106,7 @@ class VCruiseHelper:
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
@@ -120,17 +120,16 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
-      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph

selfdrive/car/helpers.py

@@ -1,59 +0,0 @@
-import capnp
-from typing import Any
-
-from cereal import custom
-from opendbc.car import structs
-
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
-
-
-def is_dataclass(obj):
-  """Similar to dataclasses.is_dataclass without instance type check checking"""
-  return hasattr(obj, _FIELDS)
-
-
-def _asdictref_inner(obj) -> dict[str, Any] | Any:
-  if is_dataclass(obj):
-    ret = {}
-    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-      ret[field] = _asdictref_inner(getattr(obj, field))
-    return ret
-  elif isinstance(obj, (tuple, list)):
-    return type(obj)(_asdictref_inner(v) for v in obj)
-  else:
-    return obj
-
-
-def asdictref(obj) -> dict[str, Any]:
-  """
-  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
-  Note that the resulting dict will contain references to the original struct as a result
-  """
-  if not is_dataclass(obj):
-    raise TypeError("asdictref() should be called on dataclass instances")
-
-  return _asdictref_inner(obj)
-
-
-def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParamsSP):
-    struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-
-  return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -4,7 +4,7 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
-from cereal import car, custom
+from cereal import car
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
@@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,12 +40,9 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
-    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                                           experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
+    car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
-    assert car_params_sp
     assert car_interface
 
     assert car_params.mass > 1
@@ -73,16 +69,13 @@ class TestCarInterfaces:
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
-    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     CC = CC.as_reader()
-    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
-    CC_SP = convert_carControlSP(CC_SP.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -90,7 +83,7 @@ class TestCarInterfaces:
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_cruise_speed.py

@@ -57,16 +57,16 @@ class TestVCruiseHelper:
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
+  def enable(self, v_ego, experimental_mode):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0, False, False)
+    self.enable(0, False)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,11 +142,10 @@ class TestVCruiseHelper:
     """
 
     for experimental_mode in (True, False):
-      for dynamic_experimental_control in (True, False):
-        for v_ego in np.linspace(0, 100, 101):
-          self.reset_cruise_speed_state()
-          assert not self.v_cruise_helper.v_cruise_initialized
+      for v_ego in np.linspace(0, 100, 101):
+        self.reset_cruise_speed_state()
+        assert not self.v_cruise_helper.v_cruise_initialized
 
-          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
-          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-          assert self.v_cruise_helper.v_cruise_initialized
+        self.enable(float(v_ego), experimental_mode)
+        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+        assert self.v_cruise_helper.v_cruise_initialized

selfdrive/car/tests/test_models.py

@@ -1,6 +1,4 @@
-import time
 import capnp
-import copy
 import os
 import pytest
 import random
@@ -11,15 +9,17 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
 
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from opendbc.car.fingerprints import all_known_cars, MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.structs import car
-from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from opendbc.car.values import Platform
+from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from opendbc.car.fingerprints import all_known_cars, MIGRATION
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.values import Platform
+from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.selfdrived.events import ET
+from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -29,6 +29,8 @@ from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
+EventName = log.OnroadEvent.EventName
+PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
@@ -156,9 +158,7 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -168,9 +168,11 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -200,11 +202,10 @@ class TestCarModelBase(unittest.TestCase):
     can_invalid_cnt = 0
     can_valid = False
     CC = structs.CarControl().as_reader()
-    CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, CC_SP, msg.logMonoTime)
+      self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
         can_valid = True
@@ -216,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP, self.CP_SP)
+    RI = self.RadarInterface(self.CP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
@@ -273,13 +274,13 @@ class TestCarModelBase(unittest.TestCase):
     if self.CP.notCar:
       self.skipTest("Skipping test for notCar")
 
-    def test_car_controller(car_control, car_control_sp):
+    def test_car_controller(car_control):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
-        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
+        _, sendcan = CI.apply(car_control, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
@@ -292,18 +293,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -339,8 +339,10 @@ class TestCarModelBase(unittest.TestCase):
       to_send = libpanda_py.make_CANPacket(address, bus, dat)
       self.safety.safety_rx_hook(to_send)
 
-      can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS = self.CI.update(can)
+      can = messaging.new_message('can', 1)
+      can.can = [log.CanData(address=address, dat=dat, src=bus)]
+
+      CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -360,11 +362,11 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
         if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
           self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
 
-      if self.CP.brand == "honda":
+      if self.CP.carName == "honda":
         if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
           self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
 
@@ -385,6 +387,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
+    selfdrived = SelfdriveD(CP=self.CP)
+    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -417,7 +421,7 @@ class TestCarModelBase(unittest.TestCase):
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
         # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
           # only the rising edges are expected to match
           if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -428,15 +432,18 @@ class TestCarModelBase(unittest.TestCase):
         if not self.CP.notCar:
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
-        # Check for user button enable on rising edge of controls allowed
-        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
+        # Check for enable events on rising edge of controls allowed
+        selfdrived.update_events(CS)
+        selfdrived.CS_prev = CS
+        button_enable = (selfdrived.events.contains(ET.ENABLE) and
+                         EventName.pedalPressed not in selfdrived.events.names)
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()
         if button_enable and not mismatch:
           self.safety.set_controls_allowed(False)
 
-      if self.CP.brand == "honda":
+      if self.CP.carName == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
 
       CS_prev = CS

selfdrive/controls/controlsd.py

@@ -2,7 +2,7 @@
 import math
 from typing import SupportsFloat
 
-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -19,6 +19,8 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from opendbc.sunnypilot import SunnypilotParamFlags
+
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -32,17 +34,12 @@ class Controls:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
-
-    self.CI = get_car_interface(self.CP, self.CP_SP)
+    self.CI = get_car_interface(self.CP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
-                                  poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False
     self.desired_curvature = 0.0
@@ -60,6 +57,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -94,7 +94,9 @@ class Controls:
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
 
     ss_sp = self.sm['selfdriveStateSP']
+    CC.madsEnabled = ss_sp.mads.enabled
     if ss_sp.mads.available:
+      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
       _lat_active = ss_sp.mads.active
     else:
       _lat_active = self.sm['selfdriveState'].active
@@ -117,16 +119,15 @@ class Controls:
 
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
+    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
 
     # Steering PID loop and lateral MPC
     self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = float(self.desired_curvature)
-    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+    actuators.curvature = self.desired_curvature
+    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                             self.steer_limited, self.desired_curvature,
                                                                             self.calibrated_pose) # TODO what if not available
-    actuators.steer = float(steer)
-    actuators.steeringAngleDeg = float(steeringAngleDeg)
+
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -137,12 +138,9 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log
 
-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -194,7 +192,7 @@ class Controls:
 
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = float(self.desired_curvature)
+    cs.desiredCurvature = self.desired_curvature
     cs.longControlState = self.LoC.long_control_state
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
@@ -218,18 +216,12 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
-
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
       rk.monitor_time()
 
 def main():

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,5 @@
-import numpy as np
 from cereal import log
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_SPEED = 1.0
@@ -13,10 +13,10 @@ MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = np.clip(new_curvature,
+  safe_desired_curvature = clip(new_curvature,
                                 prev_curvature - max_curvature_rate * DT_CTRL,
                                 prev_curvature + max_curvature_rate * DT_CTRL)
 
@@ -26,6 +26,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):
-    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0

selfdrive/controls/lib/latcontrol.py

@@ -1,6 +1,6 @@
-import numpy as np
 from abc import abstractmethod, ABC
 
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
@@ -28,5 +28,5 @@ class LatControl(ABC):
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
-    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
     return self.sat_count > (self.sat_limit - 1e-3)

selfdrive/controls/lib/latcontrol_angle.py

@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -39,10 +39,10 @@ class LatControlPID(LatControl):
       output_steer = self.pid.update(error, override=CS.steeringPressed,
                                      feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
-      pid_log.p = float(self.pid.p)
-      pid_log.i = float(self.pid.i)
-      pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.f = self.pid.f
+      pid_log.output = output_steer
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
 
     return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -1,8 +1,8 @@
 import math
-import numpy as np
 
 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
+from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,7 +51,7 @@ class LatControlTorque(LatControl):
       else:
         assert calibrated_pose is not None
         actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
         curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
@@ -60,7 +60,7 @@ class LatControlTorque(LatControl):
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
@@ -68,7 +68,7 @@ class LatControlTorque(LatControl):
                                                             setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
       torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                                measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+      pid_log.error = torque_from_setpoint - torque_from_measurement
       ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
@@ -80,14 +80,14 @@ class LatControlTorque(LatControl):
                                       freeze_integrator=freeze_integrator)
 
       pid_log.active = True
-      pid_log.p = float(self.pid.p)
-      pid_log.i = float(self.pid.i)
-      pid_log.d = float(self.pid.d)
-      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
-      pid_log.actualLateralAccel = float(actual_lateral_accel)
-      pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.d = self.pid.d
+      pid_log.f = self.pid.f
+      pid_log.output = -output_torque
+      pid_log.actualLateralAccel = actual_lateral_accel
+      pid_log.desiredLateralAccel = desired_lateral_accel
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longcontrol.py

@@ -1,5 +1,5 @@
-import numpy as np
 from cereal import car
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -84,5 +84,5 @@ class LongControl:
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
 
-    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
+    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -3,14 +3,13 @@ import os
 import time
 import numpy as np
 from cereal import log
-from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+from opendbc.car.interfaces import ACCEL_MIN
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
-from openpilot.common.conversions import Conversions as CV
-
 
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -57,8 +56,6 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
-CRUISE_MIN_ACCEL = -1.2
-CRUISE_MAX_ACCEL = 1.6
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -66,48 +63,24 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   elif personality==log.LongitudinalPersonality.standard:
     return 1.0
   elif personality==log.LongitudinalPersonality.aggressive:
-    return 0.3
+    return 0.5
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 
 def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
-    return 1.80
+    return 1.75
   elif personality==log.LongitudinalPersonality.standard:
-    return 1.25
+    return 1.45
   elif personality==log.LongitudinalPersonality.aggressive:
-    return 1.10
+    return 1.25
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
-def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
-  v_diff_offset = 0
-  v_diff_offset_max = 12
-  speed_to_reach_max_v_diff_offset = 26 * CV.KPH_TO_MS  # in m/s
-  delta_speed = v_lead - v_ego
-
-  if np.any(delta_speed > 0):
-    # Scale v_diff_offset with a hybrid approach: linear with a smooth transition
-    v_diff_offset = np.clip(delta_speed * 1.5, 0, v_diff_offset_max)
-    scaling_factor = np.clip((speed_to_reach_max_v_diff_offset - v_ego) / speed_to_reach_max_v_diff_offset, 0, 1)
-    # Apply a stronger decay at higher speeds to avoid pulling too close
-    smooth_scaling = scaling_factor ** 3 * (10 - 9 * scaling_factor)
-    v_diff_offset *= smooth_scaling
-
-  stopping_distance = (v_lead ** 2) / (2 * COMFORT_BRAKE) + v_diff_offset
-  return stopping_distance
-
-
-
-
-
-
-
-
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
@@ -309,7 +282,7 @@ class LongitudinalMpc:
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
       cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
     else:
       raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
     self.set_cost_weights(cost_weights, constraint_cost_weights)
@@ -347,13 +320,19 @@ class LongitudinalMpc:
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
     min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
-    x_lead = np.clip(x_lead, min_x_lead, 1e8)
-    v_lead = np.clip(v_lead, 0.0, 1e8)
-    a_lead = np.clip(a_lead, -10., 5.)
+    x_lead = clip(x_lead, min_x_lead, 1e8)
+    v_lead = clip(v_lead, 0.0, 1e8)
+    a_lead = clip(a_lead, -10., 5.)
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, fast_take_off = False):
+  def set_accel_limits(self, min_a, max_a):
+    # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
+    # needs refactor
+    self.cruise_min_a = min_a
+    self.max_a = max_a
+
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -364,16 +343,12 @@ class LongitudinalMpc:
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.
-    if fast_take_off:
-      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
-      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
-    else:
-      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
-      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
-
+    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = ACCEL_MAX
+    # negative accel constraint causes problems because negative speed is not allowed
+    self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend
     if self.mode == 'acc':
@@ -381,9 +356,9 @@ class LongitudinalMpc:
 
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
       # TODO does this make sense when max_a is negative?
-      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
+      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.params import Params
+from openpilot.common.numpy_fast import clip, interp
+
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
@@ -15,9 +16,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
+A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -30,7 +30,7 @@ _A_TOTAL_MAX_BP = [20., 40.]
 
 
 def get_max_accel(v_ego):
-  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
@@ -43,7 +43,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
-  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
   a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
   a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
 
@@ -55,9 +55,9 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
     v_now = speeds[0]
     a_now = accels[0]
 
-    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
+    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
   else:
     v_target = 0.0
     v_target_1sec = 0.0
@@ -67,40 +67,23 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner(LongitudinalPlannerSP):
+class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
     self.v_model_error = 0.0
-    self.output_a_target = 0.0
-    self.output_should_stop = False
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
 
-    self.params = Params()
-    self.param_read_counter = 0
-    self.read_param()
-
-    self.fast_take_off = False
-
-
-  def read_param(self):
-    try:
-      self.fast_take_off = self.params.get_bool("FastTakeOff")
-    except AttributeError:
-      pass
-
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
@@ -122,13 +105,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    LongitudinalPlannerSP.update(self, sm)
-    if self.param_read_counter % 50 == 0:
-      self.read_param()
-    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-    if dec_mpc_mode := self.get_mpc_mode():
-      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -152,45 +129,17 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if self.mpc.mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
-      accel_clip = [ACCEL_MIN, ACCEL_MAX]
-
-    # Override accel using Accel Controller if enabled
-    if self.accel_controller.is_enabled:
-      max_limit = self.accel_controller.get_accel_limits(v_ego, accel_clip)
-
-      # Ensure max_limit is a single float value
-      if isinstance(max_limit, list):
-        max_limit = max_limit[1]
-
-      # If needed, ensure braking is allowed
-      # if not self.allow_throttle:
-      #     max_limit = min(max_limit, -3.5)  # Ensure braking is allowed if needed
-      #     print(f"allow_throttle={self.allow_throttle}, max_limit before={max_limit:.2f}")
-
-      print(f"Accel Controller: max_limit={max_limit:.2f}")
-
-      if self.mpc.mode == 'acc':
-        # Use the accel controller limits directly
-        accel_clip = [ACCEL_MIN, max_limit]
-        # Recalculate limit turn according to the new max limit
-        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
-        print(f"ACC Mode Final: v_ego={v_ego:.2f}, accel_clip={accel_clip}")
-      else:
-        print(f"Blended Mode (Accel Controller Enabled): accel_clip={accel_clip}")
-    else:
-      print(f"Accel Controller Disabled: accel_clip={accel_clip}")
-
-
+      accel_limits = [ACCEL_MIN, ACCEL_MAX]
+      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])
+      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -201,19 +150,20 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
-      clipped_accel_coast = max(accel_coast, accel_clip[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
-      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
+      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
       v_cruise = 0.0
+    # clip limits, cannot init MPC outside of bounds
+    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
+    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
+    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    #print("Fast take off status:", self.fast_take_off)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality, fast_take_off=self.fast_take_off)
-
-
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -226,18 +176,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
+    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-
-    for idx in range(2):
-      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
-    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
-    self.prev_accel_clip = accel_clip
-
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
@@ -256,11 +197,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    longitudinalPlan.aTarget = float(self.output_a_target)
-    longitudinalPlan.shouldStop = bool(self.output_should_stop)
+    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
+                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    longitudinalPlan.aTarget = a_target
+    longitudinalPlan.shouldStop = should_stop
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
+    longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
-
-    self.publish_longitudinal_plan_sp(sm, pm)

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -19,8 +19,7 @@ class TestLatControl:
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
-    CI = CarInterface(CP, CP_SP, CarController, CarState)
+    CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)

selfdrive/controls/plannerd.py

@@ -14,11 +14,11 @@ def main():
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.brand)
+  cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 

selfdrive/controls/radard.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import math
-import numpy as np
 from collections import deque
 from typing import Any
 
 import capnp
 from cereal import messaging, log, car
+from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -44,7 +44,7 @@ class KalmanParams:
           0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
           0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
           0.26393339, 0.26278425]
-    self.K = [[np.interp(dt, dts, K0)], [np.interp(dt, dts, K1)]]
+    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
 
 
 class Track:
@@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vRel": float(lead_v_rel_pred),
     "vLead": float(v_ego + lead_v_rel_pred),
     "vLeadK": float(v_ego + lead_v_rel_pred),
-    "aLeadK": float(lead_msg.a[0]),
+    "aLeadK": 0.0,
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),

selfdrive/debug/adb.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -e
+
+PORT=5555
+
+setprop service.adb.tcp.port $PORT
+sudo systemctl start adbd
+
+IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
+echo "then, connect on your computer:"
+echo "adb connect $IP:$PORT"

selfdrive/debug/car/disable_ecu.py

@@ -11,5 +11,5 @@ if __name__ == "__main__":
   time.sleep(1)
 
   # honda bosch radar disable
-  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5)
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
   print(f"disabled: {disabled}")

selfdrive/debug/car/ecu_addrs.py

@@ -2,7 +2,6 @@
 import argparse
 import time
 import cereal.messaging as messaging
-from opendbc.car.carlog import carlog
 from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
@@ -16,9 +15,6 @@ if __name__ == "__main__":
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
   can_callbacks = can_comm_callbacks(logcan, sendcan)
@@ -33,7 +29,7 @@ if __name__ == "__main__":
   obd_callback(params)(not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout)
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
 
   print()
   print("Found ECUs on rx addresses:")

selfdrive/debug/car/fw_versions.py

@@ -3,7 +3,6 @@ import time
 import argparse
 import cereal.messaging as messaging
 from cereal import car
-from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin
 from openpilot.common.params import Params
@@ -19,9 +18,6 @@ if __name__ == "__main__":
   parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   logcan = messaging.sub_sock('can')
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
@@ -50,13 +46,13 @@ if __name__ == "__main__":
   t = time.time()
   print("Getting vin...")
   set_obd_multiplexing(True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()

selfdrive/debug/car/vin.py

@@ -2,7 +2,6 @@
 import argparse
 import time
 import cereal.messaging as messaging
-from opendbc.car.carlog import carlog
 from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks
 
@@ -14,13 +13,10 @@ if __name__ == "__main__":
   parser.add_argument('--retry', type=int, default=5)
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
   can_callbacks = can_comm_callbacks(logcan, sendcan)
   time.sleep(1)
 
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

selfdrive/debug/clear_dtc.py

@@ -2,10 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
-from opendbc.car.carlog import carlog
-from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
-from opendbc.safety import Safety
 from panda import Panda
+from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 
 parser = argparse.ArgumentParser(description="clear DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address
@@ -13,9 +11,6 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
-if args.debug:
-  carlog.setLevel('DEBUG')
-
 try:
   check_output(["pidof", "pandad"])
   print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -25,8 +20,8 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Safety.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus)
+panda.set_safety_mode(Panda.SAFETY_ELM327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
 print("extended diagnostic session ...")
 try:
   uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)

selfdrive/debug/debug_fw_fingerprinting_offline.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import argparse
 
-from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
+from panda.python import uds
 
 
 def main(route: str | None, addrs: list[int]):

selfdrive/debug/hyundai_enable_radar_points.py

@@ -16,10 +16,8 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
 
-from opendbc.car.carlog import carlog
-from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
-from opendbc.safety import Safety
 from panda.python import Panda
+from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 
 class ConfigValues(NamedTuple):
   default_config: bytes
@@ -80,9 +78,6 @@ if __name__ == "__main__":
   parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   try:
     check_output(["pidof", "pandad"])
     print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -97,8 +92,8 @@ if __name__ == "__main__":
     sys.exit(0)
 
   panda = Panda()
-  panda.set_safety_mode(Safety.SAFETY_ELM327)
-  uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
+  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
 
   print("\n[START DIAGNOSTIC SESSION]")
   session_type : SESSION_TYPE = 0x07 # type: ignore

selfdrive/debug/internal/qlog_size.py

@@ -6,7 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt
 
 from cereal.services import SERVICE_LIST
-from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 

selfdrive/debug/live_cpu_and_temp.py

@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
-import numpy as np
 import capnp
 from collections import defaultdict
 
 from cereal.messaging import SubMaster
+from openpilot.common.numpy_fast import mean
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -49,7 +49,7 @@ if __name__ == "__main__":
 
     if sm.updated['deviceState']:
       t = sm['deviceState']
-      last_temp = np.mean(t.cpuTempC)
+      last_temp = mean(t.cpuTempC)
       last_mem = t.memoryUsagePercent
 
     if sm.updated['procLog']:
@@ -72,7 +72,7 @@ if __name__ == "__main__":
       total_times = total_times_new[:]
       busy_times = busy_times_new[:]
 
-      print(f"CPU {100.0 * np.mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
+      print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
       if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
         procs: dict[str, float] = defaultdict(float)

selfdrive/debug/read_dtc_status.py

@@ -2,10 +2,9 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
-from opendbc.car.carlog import carlog
-from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
-from opendbc.safety import Safety
 from panda import Panda
+from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE
+from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names
 
 parser = argparse.ArgumentParser(description="read DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0))
@@ -13,9 +12,6 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
-if args.debug:
-  carlog.setLevel('DEBUG')
-
 try:
   check_output(["pidof", "pandad"])
   print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -25,8 +21,8 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Safety.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus)
+panda.set_safety_mode(Panda.SAFETY_ELM327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
 print("extended diagnostic session ...")
 uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
 print("read diagnostic codes ...")