Refactor flag handling in ESCC and introduce sunnyParams

Refactored ESCC flag handling to use sunnyParams for clarity and better structure. Updated related tests and configurations to align with the new sunnyParams structure. Also, added the sunnyParams definition to car.capnp.

.github/workflows/selfdrive_tests.yaml

@@ -41,14 +41,19 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: git lfs pull
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      timeout-minutes: 1
+      timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -56,7 +61,7 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
-      timeout-minutes: 3
+      timeout-minutes: 1
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
@@ -76,7 +81,9 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
+                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
+                   'ubuntu-latest'}}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -144,11 +151,12 @@ jobs:
       PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-    - name: Setup
-      run: tools/op.sh setup
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
     - name: Static analysis
       timeout-minutes: 1
-      run: tools/op.sh lint
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
 
   unit_tests:
     name: unit tests
@@ -222,14 +230,8 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
-    - name: Run model replay with ONNX
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                        coverage combine && coverage xml"
     - name: Run regen
+      if: false
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
@@ -333,24 +335,54 @@ jobs:
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: 1
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        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
     name: Create UI Report
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
       - uses: ./.github/workflows/setup-with-retry
+      - name: caching frames
+        id: frames-cache
+        uses: actions/cache@v4
+        with:
+          path: .ci_cache/comma_download_cache
+          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python3 selfdrive/ui/tests/test_ui/run.py"
+                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
+                            chmod -R 777 /tmp/comma_download_cache"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/tools_tests.yaml

@@ -25,24 +25,6 @@ env:
 
 
 jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run bridge test
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest

.github/workflows/ui_preview.yaml

@@ -52,7 +52,7 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-${{ env.REPORT_NAME }}
+          name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting master ui
@@ -84,26 +84,24 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
           A=($scenes)
 
           DIFF=""
-          open=false
-          TABLE="<summary>All Screenshots</summary>"
+          TABLE="<details><summary>All Screenshots</summary>"
           TABLE="${TABLE}<table>"
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
 
             if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
               mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
 
-              DIFF="${DIFF}<details>"
+              DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
               DIFF="${DIFF}<table>"
 
@@ -133,14 +131,7 @@ jobs:
             fi
           done
 
-          TABLE="${TABLE}</table>"
-          TABLE="${TABLE}</details>"
-
-          if $open; then
-            TABLE="<details open>${TABLE}"
-          else
-            TABLE="<details>${TABLE}"
-          fi
+          TABLE="${TABLE}</table></details>"
 
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 

.gitignore

@@ -55,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
-selfdrive/modeld/_modeld
-selfdrive/modeld/_dmonitoringmodeld
-/src/
 
 notebooks
 hyperthneed

.gitmodules

@@ -1,18 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git

Jenkinsfile

@@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
+export TERM=xterm-256color
+
 shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
@@ -25,6 +27,8 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
+export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@@ -63,8 +67,6 @@ ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
 ${cmd}
-exit 0
-
 END"""
 
     sh script: ssh_cmd, label: step_label
@@ -79,15 +81,32 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
+    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
         timeout(time: 35, unit: 'MINUTES') {
           retry (3) {
+            def date = sh(script: 'date', returnStdout: true).trim();
+            device(device_ip, "set time", "date -s '" + date + "'")
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            device(device_ip, item[0], item[1])
+            def name = item[0]
+            def cmd = item[1]
+
+            def args = item[2]
+            def diffPaths = args.diffPaths ?: []
+            def cmdTimeout = args.timeout ?: 9999
+
+            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+              println "Skipping ${name}: no changes in ${diffPaths}."
+              return
+            } else {
+              timeout(time: cmdTimeout, unit: 'SECONDS') {
+                device(device_ip, name, cmd)
+              }
+            }
           }
         }
       }
@@ -95,14 +114,38 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
+def hasPathChanged(String gitDiff, List<String> paths) {
+  for (path in paths) {
+    if (gitDiff.contains(path)) {
+      return true
+    }
+  }
+  return false
+}
+
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
   }
+
+  withCredentials([
+    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
+  ]) {
+    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
+  }
+
+  withCredentials([
+    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
+  ]) {
+    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
+  }
 }
 
+def step(String name, String cmd, Map args = [:]) {
+  return [name, cmd, args]
+}
 
 node {
   env.CI = "1"
@@ -127,14 +170,23 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
-      deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-      ])
+      parallel (
+        'nightly': {
+          deviceStage("build nightly", "tici-needs-can", [], [
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+          ])
+        },
+        'nightly-dev': {
+          deviceStage("build nightly-dev", "tici-needs-can", [], [
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+          ])
+        },
+      )
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
@@ -144,65 +196,64 @@ node {
         deviceStage("onroad", "tici-needs-can", [], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["check dirty", "release/check-dirty.sh"],
-          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("check dirty", "release/check-dirty.sh"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s"),
+          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
-          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
-          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-          ["test manager", "pytest system/manager/test/test_manager.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
+          step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
       'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py"),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
-          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
-          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
-          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
+          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
         ])
       },
 

LICENSE.md

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

RELEASES.md

@@ -1,6 +1,10 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* New Tomb Raider driving model
+* New driving model
+  * 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 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * New Toyota TSS2 longitudinal tune
 

cereal/car.capnp

@@ -1,718 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x8e2af1e708af8b8d;
-
-# ******* events causing controls state machine transition *******
-
-# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately
-#        move due to being referenced by structs in this file
-struct OnroadEvent @0x9b1657f34caf3ad3 {
-  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 @0xbaa8c5d505f727de {
-    canError @0;
-    steerUnavailable @1;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTempUnavailable @9;
-    reverseGear @10;
-    buttonCancel @11;
-    buttonEnable @12;
-    pedalPressed @13;  # exits active state
-    preEnableStandstill @73;  # added during pre-enable state with brake
-    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
-    steerOverride @114;
-    cruiseDisabled @14;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    calibrationRecalibrating @117;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    radarFault @26;
-    brakeHold @28;
-    parkBrake @29;
-    manualRestart @30;
-    lowSpeedLockout @31;
-    joystickDebug @34;
-    longitudinalManeuver @124;
-    steerTempUnavailableSilent @35;
-    resumeRequired @36;
-    preDriverDistracted @37;
-    promptDriverDistracted @38;
-    driverDistracted @39;
-    preDriverUnresponsive @43;
-    promptDriverUnresponsive @44;
-    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    lowBattery @48;
-    accFaulted @51;
-    sensorDataInvalid @52;
-    commIssue @53;
-    commIssueAvgFreq @109;
-    tooDistracted @54;
-    posenetInvalid @55;
-    soundsUnavailable @56;
-    preLaneChangeLeft @57;
-    preLaneChangeRight @58;
-    laneChange @59;
-    lowMemory @63;
-    stockAeb @64;
-    ldw @65;
-    carUnrecognized @66;
-    invalidLkasSetting @69;
-    speedTooHigh @70;
-    laneChangeBlocked @71;
-    relayMalfunction @72;
-    stockFcw @74;
-    startup @75;
-    startupNoCar @76;
-    startupNoControl @77;
-    startupMaster @78;
-    fcw @79;
-    steerSaturated @80;
-    belowEngageSpeed @84;
-    noGps @85;
-    wrongCruiseMode @87;
-    modeldLagging @89;
-    deviceFalling @90;
-    fanMalfunction @91;
-    cameraMalfunction @92;
-    cameraFrameRate @110;
-    processNotRunning @95;
-    dashcamMode @96;
-    selfdriveInitializing @98;
-    usbError @99;
-    cruiseMismatch @106;
-    lkasDisabled @107;
-    canBusMissing @111;
-    selfdrivedLagging @112;
-    resumeBlocked @113;
-    steerTimeLimit @115;
-    vehicleSensorsInvalid @116;
-    locationdTemporaryError @103;
-    locationdPermanentError @118;
-    paramsdTemporaryError @50;
-    paramsdPermanentError @119;
-    actuatorsApiUnavailable @120;
-    espActive @121;
-    personalityChanged @122;
-    aeb @123;
-
-    radarCanErrorDEPRECATED @15;
-    communityFeatureDisallowedDEPRECATED @62;
-    radarCommIssueDEPRECATED @67;
-    driverMonitorLowAccDEPRECATED @68;
-    gasUnavailableDEPRECATED @3;
-    dataNeededDEPRECATED @16;
-    modelCommIssueDEPRECATED @27;
-    ipasOverrideDEPRECATED @33;
-    geofenceDEPRECATED @40;
-    driverMonitorOnDEPRECATED @41;
-    driverMonitorOffDEPRECATED @42;
-    calibrationProgressDEPRECATED @47;
-    invalidGiraffeHondaDEPRECATED @49;
-    invalidGiraffeToyotaDEPRECATED @60;
-    internetConnectivityNeededDEPRECATED @61;
-    whitePandaUnsupportedDEPRECATED @81;
-    commIssueWarningDEPRECATED @83;
-    focusRecoverActiveDEPRECATED @86;
-    neosUpdateRequiredDEPRECATED @88;
-    modelLagWarningDEPRECATED @93;
-    startupOneplusDEPRECATED @82;
-    startupFuzzyFingerprintDEPRECATED @97;
-    noTargetDEPRECATED @25;
-    brakeUnavailableDEPRECATED @2;
-    plannerErrorDEPRECATED @32;
-    gpsMalfunctionDEPRECATED @94;
-    roadCameraErrorDEPRECATED @100;
-    driverCameraErrorDEPRECATED @101;
-    wideRoadCameraErrorDEPRECATED @102;
-    highCpuUsageDEPRECATED @105;
-    startupNoFwDEPRECATED @104;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  events @13 :List(OnroadEvent);
-
-  # CAN health
-  canValid @26 :Bool;       # invalid counter/checksums
-  canTimeout @40 :Bool;     # CAN bus dropped out
-  canErrorCounter @48 :UInt32;
-
-  # car speed
-  vEgo @1 :Float32;            # best estimate of speed
-  aEgo @16 :Float32;           # best estimate of aCAN cceleration
-  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
-  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
-
-  vCruise @53 :Float32;        # actual set speed
-  vCruiseCluster @54 :Float32; # set speed to display in the UI
-
-  yawRate @22 :Float32;     # best estimate of yaw rate
-  standstill @18 :Bool;
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user pedal only
-  gasPressed @4 :Bool;    # this is user pedal only
-
-  engineRpm @46 :Float32;
-
-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
-  brakePressed @6 :Bool;  # this is user pedal only
-  regenBraking @45 :Bool; # this is user pedal only
-  parkingBrake @39 :Bool;
-  brakeHoldActive @38 :Bool;
-
-  # steering wheel
-  steeringAngleDeg @7 :Float32;
-  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
-  steeringRateDeg @15 :Float32;
-  steeringTorque @8 :Float32;      # TODO: standardize units
-  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;        # if the user is using the steering wheel
-  steerFaultTemporary @35 :Bool;   # temporary EPS fault
-  steerFaultPermanent @36 :Bool;   # permanent EPS fault
-  stockAeb @30 :Bool;
-  stockFcw @31 :Bool;
-  espDisabled @32 :Bool;
-  accFaulted @42 :Bool;
-  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
-  espActive @51 :Bool;
-  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
-
-  # cruise state
-  cruiseState @10 :CruiseState;
-
-  # gear
-  gearShifter @14 :GearShifter;
-
-  # button presses
-  buttonEvents @11 :List(ButtonEvent);
-  leftBlinker @20 :Bool;
-  rightBlinker @21 :Bool;
-  genericToggle @23 :Bool;
-
-  # lock info
-  doorOpen @24 :Bool;
-  seatbeltUnlatched @25 :Bool;
-
-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
-  # blindspot sensors
-  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
-  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
-
-  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
-  charging @43 :Bool;
-
-  # process meta
-  cumLagMs @50 :Float32;
-
-  struct WheelSpeeds {
-    # optional wheel speeds
-    fl @0 :Float32;
-    fr @1 :Float32;
-    rl @2 :Float32;
-    rr @3 :Float32;
-  }
-
-  struct CruiseState {
-    enabled @0 :Bool;
-    speed @1 :Float32;
-    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
-    available @2 :Bool;
-    speedOffset @3 :Float32;
-    standstill @4 :Bool;
-    nonAdaptive @5 :Bool;
-  }
-
-  enum GearShifter {
-    unknown @0;
-    park @1;
-    drive @2;
-    neutral @3;
-    reverse @4;
-    sport @5;
-    low @6;
-    brake @7;
-    eco @8;
-    manumatic @9;
-  }
-
-  # send on change
-  struct ButtonEvent {
-    pressed @0 :Bool;
-    type @1 :Type;
-
-    enum Type {
-      unknown @0;
-      leftBlinker @1;
-      rightBlinker @2;
-      accelCruise @3;
-      decelCruise @4;
-      cancel @5;
-      altButton1 @6;
-      altButton2 @7;
-      altButton3 @8;
-      setCruise @9;
-      resumeCruise @10;
-      gapAdjustCruise @11;
-    }
-  }
-
-  # deprecated
-  errorsDEPRECATED @0 :List(OnroadEvent.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
-  steeringRateLimitedDEPRECATED @29 :Bool;
-  canMonoTimesDEPRECATED @12: List(UInt64);
-  canRcvTimeoutDEPRECATED @49 :Bool;
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarData @0x888ad6581cf0aacb {
-  errors @0 :List(Error);
-  points @1 :List(RadarPoint);
-
-  enum Error {
-    canError @0;
-    fault @1;
-    wrongConfig @2;
-  }
-
-  # similar to LiveTracks
-  # is one timestamp valid for all? I think so
-  struct RadarPoint {
-    trackId @0 :UInt64;  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel @1 :Float32; # m from the front bumper of the car
-    yRel @2 :Float32; # m
-    vRel @3 :Float32; # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel @4 :Float32; # m/s^2
-    yvRel @5 :Float32; # m/s
-
-    # some radars flag measurements VS estimates
-    measured @6 :Bool;
-  }
-
-  # deprecated
-  canMonoTimesDEPRECATED @2 :List(UInt64);
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0 :Bool;
-  latActive @11: Bool;
-  longActive @12: Bool;
-
-  # Final actuator commands
-  actuators @6 :Actuators;
-
-  # Blinker controls
-  leftBlinker @15: Bool;
-  rightBlinker @16: Bool;
-
-  orientationNED @13 :List(Float32);
-  angularVelocity @14 :List(Float32);
-
-  cruiseControl @4 :CruiseControl;
-  hudControl @5 :HUDControl;
-
-  struct Actuators {
-    # lateral commands, mutually exclusive
-    steer @2: Float32;  # [0.0, 1.0]
-    steeringAngleDeg @3: Float32;
-    curvature @7: Float32;
-
-    # longitudinal commands
-    accel @4: Float32;  # m/s^2
-    longControlState @5: LongControlState;
-
-    # these are only for logging the actual values sent to the car over CAN
-    gas @0: Float32;   # [0.0, 1.0]
-    brake @1: Float32; # [0.0, 1.0]
-    steerOutputCan @8: Float32;   # value sent over can to the car
-    speed @6: Float32;  # m/s
-
-    enum LongControlState @0xe40f3a917d908282{
-      off @0;
-      pid @1;
-      stopping @2;
-      starting @3;
-    }
-  }
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    resume @1: Bool;
-    override @4: Bool;
-    speedOverrideDEPRECATED @2: Float32;
-    accelOverrideDEPRECATED @3: Float32;
-  }
-
-  struct HUDControl {
-    speedVisible @0: Bool;
-    setSpeed @1: Float32;
-    lanesVisible @2: Bool;
-    leadVisible @3: Bool;
-    visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
-    rightLaneVisible @6: Bool;
-    leftLaneVisible @7: Bool;
-    rightLaneDepart @8: Bool;
-    leftLaneDepart @9: Bool;
-    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
-
-    enum VisualAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      fcw @1;
-      steerRequired @2;
-      brakePressed @3;
-      wrongGear @4;
-      seatbeltUnbuckled @5;
-      speedTooHigh @6;
-      ldw @7;
-    }
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-    }
-  }
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-  activeDEPRECATED @7 :Bool;
-  rollDEPRECATED @8 :Float32;
-  pitchDEPRECATED @9 :Float32;
-  actuatorsOutputDEPRECATED @10 :Actuators;
-}
-
-struct CarOutput {
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @0 :CarControl.Actuators;
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  carFingerprint @1 :Text;
-  fuzzyFingerprint @55 :Bool;
-
-  notCar @66 :Bool;  # flag for non-car robotics platforms
-
-  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
-  enableBsm @56 :Bool;       # blind spot monitoring
-  flags @64 :UInt32;         # flags for car specific quirks
-  experimentalLongitudinalAvailable @71 :Bool;
-
-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  safetyConfigs @62 :List(SafetyConfig);
-  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-
-  # Car docs fields
-  maxLateralAccel @68 :Float32;
-  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
-
-  # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
-  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
-  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
-  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
-
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indiDEPRECATED @27 :LateralINDITuning;
-    lqrDEPRECATED @40 :LateralLQRTuning;
-    torque @67 :LateralTorqueTuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
-  steerControlType @34 :SteerControlType;
-  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-  dashcamOnly @41: Bool;
-  passive @73: Bool;   # is openpilot in control?
-  transmissionType @43 :TransmissionType;
-  carFw @44 :List(CarFw);
-
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  radarDelay @74 :Float32;
-  fingerprintSource @49: FingerprintSource;
-  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
-
-  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
-
-  struct SafetyConfig {
-    safetyModel @0 :SafetyModel;
-    safetyParam @3 :UInt16;
-    safetyParamDEPRECATED @1 :Int16;
-    safetyParam2DEPRECATED @2 :UInt32;
-  }
-
-  struct LateralParams {
-    torqueBP @0 :List(Int32);
-    torqueV @1 :List(Int32);
-  }
-
-  struct LateralPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @4 :Float32;
-  }
-
-  struct LateralTorqueTuning {
-    useSteeringAngle @0 :Bool;
-    kp @1 :Float32;
-    ki @2 :Float32;
-    friction @3 :Float32;
-    kf @4 :Float32;
-    steeringAngleDeadzoneDeg @5 :Float32;
-    latAccelFactor @6 :Float32;
-    latAccelOffset @7 :Float32;
-  }
-
-  struct LongitudinalPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @6 :Float32;
-    deadzoneBPDEPRECATED @4 :List(Float32);
-    deadzoneVDEPRECATED @5 :List(Float32);
-  }
-
-  struct LateralINDITuning {
-    outerLoopGainBP @4 :List(Float32);
-    outerLoopGainV @5 :List(Float32);
-    innerLoopGainBP @6 :List(Float32);
-    innerLoopGainV @7 :List(Float32);
-    timeConstantBP @8 :List(Float32);
-    timeConstantV @9 :List(Float32);
-    actuatorEffectivenessBP @10 :List(Float32);
-    actuatorEffectivenessV @11 :List(Float32);
-
-    outerLoopGainDEPRECATED @0 :Float32;
-    innerLoopGainDEPRECATED @1 :Float32;
-    timeConstantDEPRECATED @2 :Float32;
-    actuatorEffectivenessDEPRECATED @3 :Float32;
-  }
-
-  struct LateralLQRTuning {
-    scale @0 :Float32;
-    ki @1 :Float32;
-    dcGain @2 :Float32;
-
-    # State space system
-    a @3 :List(Float32);
-    b @4 :List(Float32);
-    c @5 :List(Float32);
-
-    k @6 :List(Float32);  # LQR gain
-    l @7 :List(Float32);  # Kalman gain
-  }
-
-  enum SafetyModel {
-    silent @0;
-    hondaNidec @1;
-    toyota @2;
-    elm327 @3;
-    gm @4;
-    hondaBoschGiraffe @5;
-    ford @6;
-    cadillac @7;
-    hyundai @8;
-    chrysler @9;
-    tesla @10;
-    subaru @11;
-    gmPassive @12;
-    mazda @13;
-    nissan @14;
-    volkswagen @15;
-    toyotaIpas @16;
-    allOutput @17;
-    gmAscm @18;
-    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBosch @20;
-    volkswagenPq @21;
-    subaruPreglobal @22;  # pre-Global platform
-    hyundaiLegacy @23;
-    hyundaiCommunity @24;
-    volkswagenMlb @25;
-    hongqi @26;
-    body @27;
-    hyundaiCanfd @28;
-    volkswagenMqbEvo @29;
-    chryslerCusw @30;
-    psa @31;
-    fcaGiorgio @32;
-  }
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-
-    curvatureDEPRECATED @2;
-  }
-
-  enum TransmissionType {
-    unknown @0;
-    automatic @1;  # Traditional auto, including DSG
-    manual @2;  # True "stick shift" only
-    direct @3;  # Electric vehicle or other direct drive
-    cvt @4;
-  }
-
-  struct CarFw {
-    ecu @0 :Ecu;
-    fwVersion @1 :Data;
-    address @2 :UInt32;
-    subAddress @3 :UInt8;
-    responseAddress @4 :UInt32;
-    request @5 :List(Data);
-    brand @6 :Text;
-    bus @7 :UInt8;
-    logging @8 :Bool;
-    obdMultiplexing @9 :Bool;
-  }
-
-  enum Ecu {
-    eps @0;
-    abs @1;
-    fwdRadar @2;
-    fwdCamera @3;
-    engine @4;
-    unknown @5;
-    transmission @8; # Transmission Control Module
-    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
-    srs @9; # airbag
-    gateway @10; # can gateway
-    hud @11; # heads up display
-    combinationMeter @12; # instrument cluster
-    electricBrakeBooster @15;
-    shiftByWire @16;
-    adas @19;
-    cornerRadar @21;
-    hvac @20;
-    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
-    epb @22;  # electronic parking brake
-    telematics @23;
-    body @24;  # body control module
-
-    # Toyota only
-    dsu @6;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-
-    debug @17;
-  }
-
-  enum FingerprintSource {
-    can @0;
-    fw @1;
-    fixed @2;
-  }
-
-  enum NetworkLocation {
-    fwdCamera @0;  # Standard/default integration at LKAS camera
-    gateway @1;    # Integration at vehicle's CAN gateway
-  }
-
-  enableGasInterceptorDEPRECATED @2 :Bool;
-  enableCameraDEPRECATED @4 :Bool;
-  enableApgsDEPRECATED @6 :Bool;
-  steerRateCostDEPRECATED @33 :Float32;
-  isPandaBlackDEPRECATED @39 :Bool;
-  hasStockCameraDEPRECATED @57 :Bool;
-  safetyParamDEPRECATED @10 :Int16;
-  safetyModelDEPRECATED @9 :SafetyModel;
-  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
-  minSpeedCanDEPRECATED @51 :Float32;
-  communityFeatureDEPRECATED @46: Bool;
-  startingAccelRateDEPRECATED @53 :Float32;
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
-  directAccelControlDEPRECATED @30 :Bool;
-  maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
-}

cereal/car.capnp

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

cereal/log.capnp

@@ -17,6 +17,119 @@ struct Map(Key, Value) {
   }
 }
 
+struct OnroadEvent @0xc4fa6047f024e718 {
+  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 @0x91f1992a1f77fb03 {
+    canError @0;
+    steerUnavailable @1;
+    wrongGear @2;
+    doorOpen @3;
+    seatbeltNotLatched @4;
+    espDisabled @5;
+    wrongCarMode @6;
+    steerTempUnavailable @7;
+    reverseGear @8;
+    buttonCancel @9;
+    buttonEnable @10;
+    pedalPressed @11;  # exits active state
+    preEnableStandstill @12;  # added during pre-enable state with brake
+    gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
+    steerOverride @14;
+    cruiseDisabled @15;
+    speedTooLow @16;
+    outOfSpace @17;
+    overheat @18;
+    calibrationIncomplete @19;
+    calibrationInvalid @20;
+    calibrationRecalibrating @21;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    radarFault @25;
+    brakeHold @26;
+    parkBrake @27;
+    manualRestart @28;
+    joystickDebug @29;
+    longitudinalManeuver @30;
+    steerTempUnavailableSilent @31;
+    resumeRequired @32;
+    preDriverDistracted @33;
+    promptDriverDistracted @34;
+    driverDistracted @35;
+    preDriverUnresponsive @36;
+    promptDriverUnresponsive @37;
+    driverUnresponsive @38;
+    belowSteerSpeed @39;
+    lowBattery @40;
+    accFaulted @41;
+    sensorDataInvalid @42;
+    commIssue @43;
+    commIssueAvgFreq @44;
+    tooDistracted @45;
+    posenetInvalid @46;
+    preLaneChangeLeft @48;
+    preLaneChangeRight @49;
+    laneChange @50;
+    lowMemory @51;
+    stockAeb @52;
+    ldw @53;
+    carUnrecognized @54;
+    invalidLkasSetting @55;
+    speedTooHigh @56;
+    laneChangeBlocked @57;
+    relayMalfunction @58;
+    stockFcw @59;
+    startup @60;
+    startupNoCar @61;
+    startupNoControl @62;
+    startupNoSecOcKey @63;
+    startupMaster @64;
+    fcw @65;
+    steerSaturated @66;
+    belowEngageSpeed @67;
+    noGps @68;
+    wrongCruiseMode @69;
+    modeldLagging @70;
+    deviceFalling @71;
+    fanMalfunction @72;
+    cameraMalfunction @73;
+    cameraFrameRate @74;
+    processNotRunning @75;
+    dashcamMode @76;
+    selfdriveInitializing @77;
+    usbError @78;
+    cruiseMismatch @79;
+    canBusMissing @80;
+    selfdrivedLagging @81;
+    resumeBlocked @82;
+    steerTimeLimit @83;
+    vehicleSensorsInvalid @84;
+    locationdTemporaryError @85;
+    locationdPermanentError @86;
+    paramsdTemporaryError @87;
+    paramsdPermanentError @88;
+    actuatorsApiUnavailable @89;
+    espActive @90;
+    personalityChanged @91;
+    aeb @92;
+
+    soundsUnavailableDEPRECATED @47;
+  }
+}
+
 enum LongitudinalPersonality {
   aggressive @0;
   standard @1;
@@ -731,7 +844,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   lateralPlanMonoTime @50 :UInt64;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vTargetLead @3 :Float32;
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
@@ -740,7 +852,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   forceDecel @51 :Bool;
 
   lateralControlState :union {
-    indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
@@ -748,6 +859,7 @@ struct ControlsState @0x97ff69c53601abf1 {
 
     curvatureStateDEPRECATED @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :LateralLQRState;
+    indiStateDEPRECATED @52 :LateralINDIState;
   }
 
   struct LateralINDIState {
@@ -881,6 +993,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   startMonoTimeDEPRECATED @48 :UInt64;
   cumLagMsDEPRECATED @15 :Float32;
   aTargetDEPRECATED @35 :Float32;
+  vTargetLeadDEPRECATED @3 :Float32;
 }
 
 struct DrivingModelData {
@@ -1157,7 +1270,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   radarValidDEPRECATED @28 :Bool;
   radarCanErrorDEPRECATED @30 :Bool;
   commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEvent);
+  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
   personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -2072,7 +2185,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }
 
 struct DriverMonitoringState @0xb83cda094a1da284 {
-  events @0 :List(Car.OnroadEvent);
+  events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
   distractedType @17 :UInt32;
@@ -2091,6 +2204,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
+  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 
 struct Boot {
@@ -2369,7 +2483,7 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    onroadEvents @68: List(Car.OnroadEvent);
+    onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     livePose @129 :LivePose;
@@ -2484,5 +2598,6 @@ struct Event {
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+    onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
   }
 }

cereal/messaging/msgq_to_zmq.cc

@@ -48,11 +48,12 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
 
-          while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
+          while (pub_sock->sendMessage(msg.get()) == -1) {
             if (errno != EINTR) break;
           }
         }

common/params.cc

@@ -182,6 +182,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
+    {"SecOCKey", PERSISTENT | DONT_LOG},
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},

conftest.py

@@ -8,6 +8,19 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
+# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
+# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+collect_ignore = [
+  "selfdrive/ui/tests/test_translations",
+  "selfdrive/test/process_replay/test_processes.py",
+  "selfdrive/test/process_replay/test_regen.py",
+  "selfdrive/test/test_time_to_onroad.py",
+]
+collect_ignore_glob = [
+  "selfdrive/debug/*.py",
+  "selfdrive/modeld/*.py",
+]
+
 
 def pytest_sessionstart(session):
   # TODO: fix tests and enable test order randomization

docs/CARS.md

@@ -30,7 +30,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -68,7 +68,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2022-24|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 Honda Bosch 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=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|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=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
 |Honda|e 2020|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=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|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=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|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=Freed 2020">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||

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="10.1"
+  export AGNOS_VERSION="11.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11"
+requires-python = ">= 3.11, <= 3.12"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
@@ -148,14 +148,7 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/pandad",
-  "selfdrive/car",
-  "selfdrive/opcar",
-  "selfdrive/controls",
-  "selfdrive/locationd",
-  "selfdrive/monitoring",
-  "selfdrive/test/longitudinal_maneuvers",
-  "selfdrive/test/process_replay/test_fuzzy.py",
+  "selfdrive",
   "system/updated",
   "system/athena",
   "system/camerad",

release/build_release.sh

@@ -50,8 +50,13 @@ git commit -a -m "openpilot v$VERSION release"
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc) --minimal
 
-# release panda fw
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+if [ -z "$PANDA_DEBUG_BUILD" ]; then
+  # release panda fw
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+else
+  # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
+  scons -j$(nproc) panda/
+fi
 
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then

scripts/lint/check_nomerge_comments.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '\(#\|//\)\([[:space:]]*\)NOMERGE' $@; then
+  echo -e "NOMERGE comments found! Remove them before merging\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/lint.sh

@@ -52,6 +52,7 @@ function run_tests() {
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   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
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

selfdrive/car/car_specific.py

@@ -1,15 +1,17 @@
-from cereal import car
+from collections import deque
+from cereal import car, log
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
-from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
+from opendbc.car.interfaces import MAX_CTRL_SPEED
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
 
 from openpilot.selfdrive.selfdrived.events import Events
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
@@ -37,132 +39,121 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
-  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
+    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.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName == 'subaru':
-      events = self.create_common_events(CS.out, CS_prev)
+    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.out, CS_prev, extra_gears=[GearShifter.manumatic])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
     elif self.CP.carName == 'nissan':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
-
-      if CS.lkas_enabled:  # type: ignore[attr-defined]
-        events.add(EventName.invalidLkasSetting)
-
-    elif self.CP.carName == 'mazda':
-      events = self.create_common_events(CS.out, CS_prev)
-
-      if CS.lkas_disabled:  # type: ignore[attr-defined]
-        events.add(EventName.lkasDisabled)
-      elif CS.low_speed_alert:  # type: ignore[attr-defined]
-        events.add(EventName.belowSteerSpeed)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
     elif self.CP.carName == 'chrysler':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
-      if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
+      if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
-      elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
+      elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'honda':
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
-      if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
+      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
       if self.CP.pcmCruise:
         # we engage when pcm is active (rising edge)
-        if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
+        if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
           events.add(EventName.pcmEnable)
-        elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+        elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
           # it can happen that car cruise disables while comma system is enabled: need to
           # keep braking if needed or if the speed is very low
-          if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
+          if CS.vEgo < self.CP.minEnableSpeed + 2.:
             # non loud alert if cruise disables below 25mph as expected (+ a little margin)
             events.add(EventName.speedTooLow)
           else:
             events.add(EventName.cruiseDisabled)
-      if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
+      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
     elif self.CP.carName == 'toyota':
-      events = self.create_common_events(CS.out, CS_prev)
+      events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.out.cruiseState.standstill and not CS.out.brakePressed:
+        if CS.cruiseState.standstill and not CS.brakePressed:
           events.add(EventName.resumeRequired)
-        if CS.low_speed_lockout:  # type: ignore[attr-defined]
-          events.add(EventName.lowSpeedLockout)
-        if CS.out.vEgo < self.CP.minEnableSpeed:
+        if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
-          if CC_prev.actuators.accel > 0.3:
+          if CC.actuators.accel > 0.3:
             # some margin on the actuator to not false trigger cancellation while stopping
             events.add(EventName.speedTooLow)
-          if CS.out.vEgo < 0.001:
+          if CS.vEgo < 0.001:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
     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.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                       GearShifter.eco, GearShifter.manumatic],
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                   GearShifter.eco, GearShifter.manumatic],
                                          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.out.buttonEvents):
+        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
-      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward  # type: ignore[attr-defined]
-      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
-                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+                                                   self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
-      if CS.out.cruiseState.standstill:
+      if CS.cruiseState.standstill:
         events.add(EventName.resumeRequired)
-      if CS.out.vEgo < self.CP.minSteerSpeed:
+      if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'volkswagen':
-      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          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.out.vEgo < (self.CP.minSteerSpeed + 1.):
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
         self.low_speed_alert = True
-      elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
+      elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
+        if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
-        if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
+        if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
-      if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
-        events.add(EventName.steerTimeLimit)
+      # TODO: this needs to be implemented generically in carState struct
+      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      #   events.add(EventName.steerTimeLimit)
 
     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
-      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)  # type: ignore[attr-defined]
-      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
+      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
+      events = self.create_common_events(CS, CS_prev, 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.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
         self.low_speed_alert = True
-      if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
+      if CS.vEgo > (self.CP.minSteerSpeed + 4.):
         self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
@@ -213,6 +204,10 @@ class CarSpecificEvents:
       events.add(EventName.gasPressedOverride)
     if CS.vehicleSensorsInvalid:
       events.add(EventName.vehicleSensorsInvalid)
+    if CS.invalidLkasSetting:
+      events.add(EventName.invalidLkasSetting)
+    if CS.lowSpeedAlert:
+      events.add(EventName.belowSteerSpeed)
 
     # Handle button presses
     for b in CS.buttonEvents:

selfdrive/car/card.py

@@ -5,7 +5,7 @@ import threading
 
 import cereal.messaging as messaging
 
-from cereal import car
+from cereal import car, log
 
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -20,13 +20,11 @@ from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 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 CarSpecificEvents, MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
-from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.selfdrive.car.car_specific import MockCarState
 
 REPLAY = "REPLAY" in os.environ
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))
@@ -64,8 +62,7 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
-  CP: structs.CarParams
-  CP_capnp: car.CarParams
+  CP: car.CarParams
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -75,7 +72,6 @@ class Car:
     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()
@@ -99,7 +95,7 @@ class Car:
       cached_params_raw = self.params.get("CarParamsCache")
       if cached_params_raw is not None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-          cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+          cached_params = _cached_params
 
       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)
@@ -112,9 +108,9 @@ class Car:
       self.RI = RI
 
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -127,22 +123,29 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      secoc_key = self.params.get("SecOCKey", encoding='utf8')
+      if secoc_key is not None:
+        saved_secoc_key = bytes.fromhex(secoc_key.strip())
+        if len(saved_secoc_key) == 16:
+          self.CP.secOcKeyAvailable = True
+          self.CI.CS.secoc_key = saved_secoc_key
+          if controller_available:
+            self.CI.CC.secoc_key = saved_secoc_key
+        else:
+          cloudlog.warning("Saved SecOC key is invalid")
+
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
-    # convert to pycapnp representation for caching and logging
-    self.CP_capnp = convert_to_capnp(self.CP)
-    cp_bytes = self.CP_capnp.to_bytes()
+    cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.events = Events()
-
-    self.car_events = CarSpecificEvents(self.CP)
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -152,19 +155,19 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
+  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = convert_to_capnp(self.CI.update(can_list))
+    CS = self.CI.update(can_list)
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
-    RD: structs.RadarData | None = self.RI.update(can_list)
+    RD: structs.RadarDataT | None = self.RI.update(can_list)
 
     self.sm.update(0)
 
@@ -184,44 +187,20 @@ class Car:
 
     return CS, RD
 
-  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
-    self.events.clear()
-
-    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
-
-    self.events.add_from_msg(CS.events)
-
-    if self.CP.notCar:
-      # wait for everything to init first
-      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
-        # body always wants to enable
-        self.events.add(EventName.pcmEnable)
-
-    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
-      self.events.add(EventName.pedalPressed)
-
-    if RD is not None and len(RD.errors):
-      self.events.add(EventName.radarFault)
-
-    CS.events = self.events.to_msg()
-
-  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
+  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
-      cp_send.carParams = self.CP_capnp
+      cp_send.carParams = self.CP
       self.pm.send('carParams', cp_send)
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -235,7 +214,7 @@ class Car:
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
       tracks_msg.valid = len(RD.errors) == 0
-      tracks_msg.liveTracks = convert_to_capnp(RD)
+      tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -251,7 +230,7 @@ class Car:
     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(convert_carControl(CC), 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
@@ -259,9 +238,7 @@ class Car:
   def step(self):
     CS, RD = self.state_update()
 
-    self.update_events(CS, RD)
-
-    if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
+    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)
@@ -272,7 +249,6 @@ class Car:
       self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
-    self.CS_prev = CS.as_reader()
 
   def params_thread(self, evt):
     while not evt.is_set():

selfdrive/car/helpers.py

@@ -1,74 +0,0 @@
-import capnp
-from typing import Any
-
-from cereal import car
-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.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParams):
-    del struct_dict['lateralTuning']
-    struct_capnp = car.CarParams.new_message(**struct_dict)
-
-    # this is the only union, special handling
-    which = struct.lateralTuning.which()
-    struct_capnp.lateralTuning.init(which)
-    lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
-    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
-  elif isinstance(struct, structs.CarState):
-    struct_capnp = car.CarState.new_message(**struct_dict)
-  elif isinstance(struct, structs.CarControl.Actuators):
-    struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
-  elif isinstance(struct, structs.RadarData):
-    struct_capnp = car.RadarData.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
-  # 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.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
-  struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
-  struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
-
-  return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -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.card import convert_carControl, convert_to_capnp
 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
@@ -41,6 +40,7 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_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, CarController, CarState)
     assert car_params
     assert car_interface
@@ -72,7 +72,7 @@ class TestCarInterfaces:
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
-    CC = convert_carControl(CC.as_reader())
+    CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -80,7 +80,7 @@ class TestCarInterfaces:
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
-    CC = convert_carControl(CC.as_reader())
+    CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -89,11 +89,10 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    car_params_capnp = convert_to_capnp(car_params).as_reader()
-    LongControl(car_params_capnp)
+    LongControl(car_params)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params_capnp, car_interface)
+      LatControlAngle(car_params, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params_capnp, car_interface)
+      LatControlPID(car_params, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params_capnp, car_interface)
+      LatControlTorque(car_params, car_interface)

selfdrive/car/tests/test_models.py

@@ -1,12 +1,9 @@
 import capnp
-import copy
-import dataclasses
 import os
 import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
-from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -20,16 +17,17 @@ 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.car.card import Car, convert_to_capnp
+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
-from openpilot.tools.lib.logreader import LogReader, auto_source, internal_source, openpilotci_source, openpilotci_source_zst
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
@@ -69,7 +67,6 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 class TestCarModelBase(unittest.TestCase):
   platform: Platform | None = None
   test_route: CarTestRoute | None = None
-  test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
   can_msgs: list[capnp.lib.capnp._DynamicStructReader]
   fingerprint: dict[int, dict[int, int]]
@@ -96,7 +93,7 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.platform is None and not cls.test_route_on_bucket:
+        if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
 
@@ -116,10 +113,8 @@ class TestCarModelBase(unittest.TestCase):
           (SafetyModel.elm327, SafetyModel.noOutput):
           cls.car_safety_mode_frame = len(can_msgs)
 
-    if len(can_msgs) > int(50 / DT_CTRL):
-      return car_fw, can_msgs, experimental_long
-
-    raise Exception("no can data found")
+    assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
+    return car_fw, can_msgs, experimental_long
 
   @classmethod
   def get_testing_data(cls):
@@ -127,31 +122,15 @@ class TestCarModelBase(unittest.TestCase):
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
-    is_internal = len(INTERNAL_SEG_LIST)
-
     for seg in test_segs:
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        source = partial(auto_source, sources=[internal_source] if is_internal else [openpilotci_source, openpilotci_source_zst])
-        lr = LogReader(segment_range, source=source)
+        lr = LogReader(segment_range)
         return cls.get_testing_data_from_logreader(lr)
-      except Exception:
+      except (LogsUnavailable, AssertionError):
         pass
 
-    # Route is not in CI bucket, assume either user has access (private), or it is public
-    # test_route_on_ci_bucket will fail when running in CI
-    if not is_internal:
-      cls.test_route_on_bucket = False
-
-      for seg in test_segs:
-        segment_range = f"{cls.test_route.route}/{seg}"
-        try:
-          lr = LogReader(segment_range)
-          return cls.get_testing_data_from_logreader(lr)
-        except Exception:
-          pass
-
     raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
 
 
@@ -185,7 +164,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(copy.deepcopy(self.CP), 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)
@@ -193,7 +172,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
-    cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
+    cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
@@ -218,7 +197,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = structs.CarControl()
+    CC = structs.CarControl().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -310,17 +289,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC)
+    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)
+    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)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -404,9 +383,10 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    card = Car(CI=self.CI)
+    selfdrived = SelfdriveD(CP=self.CP)
+    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
-      CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
+      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):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
@@ -449,10 +429,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        card.update_events(CS, None)
-        card.CS_prev = CS
-        button_enable = (any(evt.enable for evt in CS.events) and
-                         not any(evt == EventName.pedalPressed for evt in card.events.names))
+        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()
@@ -467,11 +447,6 @@ class TestCarModelBase(unittest.TestCase):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
-  @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
-  def test_route_on_ci_bucket(self):
-    self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
-                    "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
-
 
 @parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')

selfdrive/controls/controlsd.py

@@ -87,7 +87,7 @@ class Controls:
     CC.enabled = self.sm['selfdriveState'].enabled
 
     # Check which actuators can be enabled
-    standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
+    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -347,7 +347,8 @@ class LongitudinalMpc:
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = self.max_a
+    # 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':
@@ -356,6 +357,7 @@ 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 * self.cruise_min_a * 1.05)
+      # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,

selfdrive/controls/lib/longitudinal_planner.py

@@ -22,7 +22,7 @@ A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
-ACCEL_LIMIT_MARGIN = 0.05
+MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -56,7 +56,10 @@ def get_accel_from_plan(CP, speeds, accels):
     a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
     v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    if v_target != v_target_now:
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    else:
+      a_target = a_target_now
 
     v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
   else:
@@ -131,7 +134,8 @@ class LongitudinalPlanner:
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
@@ -146,12 +150,13 @@ class LongitudinalPlanner:
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+    # Don't clip at low speeds since throttle_prob doesn't account for creep
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
-    if not self.allow_throttle and v_ego > 5.0:  # Don't clip at low speeds since throttle_prob doesn't account for creep
-      # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
-      clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
-      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
+    if not self.allow_throttle:
+      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

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,7 +20,6 @@ class TestLatControl:
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
-    CP = convert_to_capnp(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -5,14 +5,13 @@ import numpy as np
 
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel:
   def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(convert_to_capnp(CP))
+    self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):
     # TODO: fix VM to work at zero speed

selfdrive/controls/plannerd.py

@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)

selfdrive/controls/radard.py

@@ -80,10 +80,6 @@ class Track:
 
     self.cnt += 1
 
-  def get_key_for_cluster(self):
-    # Weigh y higher since radar is inaccurate in this dimension
-    return [self.dRel, self.yRel*2, self.vRel]
-
   def reset_a_lead(self, aLeadK: float, aLeadTau: float):
     self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
     self.aLeadK = aLeadK

selfdrive/debug/check_can_parser_performance.py

@@ -14,7 +14,6 @@ N_RUNS = 10
 
 class CarModelTestCase(TestCarModelBase):
   test_route = CarTestRoute(DEMO_ROUTE, None)
-  ci = False
 
 
 if __name__ == '__main__':

selfdrive/debug/cycle_alerts.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.selfdrived.events import ET, Events
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 from openpilot.system.manager.process_config import managed_processes
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 def randperc() -> float:
   return 100. * random.random()

selfdrive/debug/fingerprint_from_route.py

@@ -8,10 +8,12 @@ def get_fingerprint(lr):
   # TODO: make this a nice tool for car ports. should also work with qlogs for FW
 
   fw = None
+  vin = None
   msgs = {}
   for msg in lr:
     if msg.which() == 'carParams':
       fw = msg.carParams.carFw
+      vin = msg.carParams.carVin
     elif msg.which() == 'can':
       for c in msg.can:
         # read also msgs sent by EON on CAN bus 0x80 and filter out the
@@ -32,6 +34,7 @@ def get_fingerprint(lr):
     print(f"      {f.fwVersion},")
     print("    ],")
   print()
+  print(f"VIN: {vin}")
 
 
 if __name__ == "__main__":

selfdrive/debug/format_fingerprints.py

@@ -2,12 +2,16 @@
 import jinja2
 import os
 
+from cereal import car
 from openpilot.common.basedir import BASEDIR
 from opendbc.car.interfaces import get_interface_attr
 
+Ecu = car.CarParams.Ecu
+
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
@@ -45,7 +49,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
   {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
     {{fw_version}},
@@ -67,8 +71,9 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
-                                            FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
+                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
+                                            extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":

selfdrive/modeld/modeld.py

@@ -17,7 +17,6 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
@@ -184,7 +183,7 @@ def main(demo=False):
 
 
   if demo:
-    CP = convert_to_capnp(get_demo_car_params())
+    CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.carName)
@@ -231,7 +230,8 @@ def main(demo=False):
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
+    v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959
+oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
 size 50309976

selfdrive/modeld/tests/test_modeld.py

@@ -7,7 +7,6 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.params import Params
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
@@ -20,11 +19,11 @@ class TestModeld:
 
   def setup_method(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
     self.vipc_server.start_listener()
-    Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes())
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])

selfdrive/monitoring/helpers.py

@@ -1,6 +1,6 @@
 from math import atan2
 
-from cereal import car
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.common.numpy_fast import interp
@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 # ******************************************************************************************
 #  NOTE: To fork maintainers.

selfdrive/monitoring/test_monitoring.py

@@ -1,10 +1,10 @@
 import numpy as np
 
-from cereal import car, log
+from cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds

selfdrive/pandad/tests/test_pandad.py

@@ -103,9 +103,8 @@ class TestPandad:
     # 5s for USB (due to enumeration)
     # - 0.2s pandad -> pandad
     # - plus some buffer
-    assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
     print("startup times", ts, sum(ts) / len(ts))
-
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
 
   def test_protocol_version_check(self):
     if not self.spi:

selfdrive/selfdrived/alertmanager.py

@@ -27,10 +27,13 @@ class AlertEntry:
   alert: Alert | None = None
   start_frame: int = -1
   end_frame: int = -1
+  added_frame: int = -1
 
   def active(self, frame: int) -> bool:
     return frame <= self.end_frame
 
+  def just_added(self, frame: int) -> bool:
+    return self.active(frame) and frame == (self.added_frame + 1)
 
 class AlertManager:
   def __init__(self):
@@ -41,10 +44,11 @@ class AlertManager:
     for alert in alerts:
       entry = self.alerts[alert.alert_type]
       entry.alert = alert
-      if not entry.active(frame):
+      if not entry.just_added(frame):
         entry.start_frame = frame
       min_end_frame = entry.start_frame + alert.duration
       entry.end_frame = max(frame + 1, min_end_frame)
+      entry.added_frame = frame
 
   def process_alerts(self, frame: int, clear_event_types: set):
     ae = AlertEntry()

selfdrive/selfdrived/events.py

@@ -16,7 +16,7 @@ AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 
 # Alert priorities
@@ -98,7 +98,7 @@ class Events:
   def to_msg(self):
     ret = []
     for event_name in self.events:
-      event = car.OnroadEvent.new_message()
+      event = log.OnroadEvent.new_message()
       event.name = event_name
       for event_type in EVENTS.get(event_name, {}):
         setattr(event, event_type, True)
@@ -382,14 +382,21 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
   },
 
+  EventName.startupNoSecOcKey: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       "Security Key Not Available",
+                                       priority=Priority.HIGH),
+  },
+
   EventName.dashcamMode: {
     ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
                                        priority=Priority.LOWEST),
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
-                                       "Turn off stock LKAS to engage"),
+    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
+                                       "Toggle stock LKAS on or off to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 
   EventName.cruiseMismatch: {
@@ -717,11 +724,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
-  EventName.soundsUnavailable: {
-    ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
-    ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
-  },
-
   EventName.tooDistracted: {
     ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
   },
@@ -939,16 +941,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
   },
 
-  EventName.lowSpeedLockout: {
-    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
-  },
-
-  EventName.lkasDisabled: {
-    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
-  },
-
   EventName.vehicleSensorsInvalid: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
     ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),

selfdrive/selfdrived/selfdrived.py

@@ -7,6 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
+from panda import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -14,12 +15,12 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gps import get_gps_location_service
 
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED
 
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 REPLAY = "REPLAY" in os.environ
@@ -33,7 +34,7 @@ State = log.SelfdriveState.OpenpilotState
 PandaType = log.PandaState.PandaType
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
@@ -41,15 +42,21 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
 class SelfdriveD:
-  def __init__(self):
+  def __init__(self, CP=None):
     self.params = Params()
 
     # Ensure the current branch is cached, otherwise the first cycle lags
     build_metadata = get_build_metadata()
 
-    cloudlog.info("selfdrived is waiting for CarParams")
-    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
-    cloudlog.info("selfdrived got CarParams")
+    if CP is None:
+      cloudlog.info("selfdrived is waiting for CarParams")
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
+      cloudlog.info("selfdrived got CarParams")
+    else:
+      self.CP = CP
+
+    self.car_events = CarSpecificEvents(self.CP)
+    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -80,9 +87,6 @@ class SelfdriveD:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
-    # detect sound card presence and ensure successful init
-    sounds_available = HARDWARE.get_sound_card_online()
-
     car_recognized = self.CP.carName != 'mock'
 
     # cleanup old params
@@ -118,9 +122,9 @@ class SelfdriveD:
       self.startup_event = EventName.startupNoCar
     elif car_recognized and self.CP.passive:
       self.startup_event = EventName.startupNoControl
+    elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
+      self.startup_event = EventName.startupNoSecOcKey
 
-    if not sounds_available:
-      self.events.add(EventName.soundsUnavailable, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
       set_offroad_alert("Offroad_CarUnrecognized", True)
@@ -164,7 +168,20 @@ class SelfdriveD:
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
-      self.events.add_from_msg(CS.events)
+      car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
+      self.events.add_from_msg(car_events)
+
+      if self.CP.notCar:
+        # wait for everything to init first
+        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+          # body always wants to enable
+          self.events.add(EventName.pcmEnable)
+
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
@@ -238,11 +255,12 @@ class SelfdriveD:
     num_events = len(self.events)
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
-      self.events.add(EventName.processNotRunning)
+    if self.sm.recv_frame['managerState'] and len(not_running):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+      self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):
@@ -332,7 +350,7 @@ class SelfdriveD:
         self.events.add(EventName.noGps)
       if gps_ok:
         self.distance_traveled = 0
-      self.distance_traveled += CS.vEgo * DT_CTRL
+      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)

selfdrive/selfdrived/tests/test_alertmanager.py

@@ -1,6 +1,6 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
 
@@ -32,8 +32,27 @@ class TestAlertManager:
         for frame in range(duration+10):
           if frame < add_duration:
             AM.add_many(frame, [alert, ])
-          AM.process_alerts(frame, {})
+          AM.process_alerts(frame, set())
 
-          shown = AM.current_alert is not None
+          shown = AM.current_alert != EmptyAlert
           should_show = frame <= show_duration
           assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
+
+      # check one case:
+      # - if alert is re-added to AM before it ends the duration is extended
+      if duration > 1:
+        AM = AlertManager()
+        show_duration = duration * 2
+        for frame in range(duration * 2 + 10):
+          if frame == 0:
+            AM.add_many(frame, [alert, ])
+
+          if frame == duration:
+            # add alert one frame before it ends
+            assert AM.current_alert == alert
+            AM.add_many(frame, [alert, ])
+          AM.process_alerts(frame, set())
+
+          shown = AM.current_alert != EmptyAlert
+          should_show = frame <= show_duration
+          assert shown == should_show, f"{frame=} {duration=}"

selfdrive/selfdrived/tests/test_alerts.py

@@ -33,12 +33,12 @@ class TestAlerts:
       # Create fake objects for callback
       cls.CS = car.CarState.new_message()
       cls.CP = car.CarParams.new_message()
-      cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
+      cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
       cls.sm = SubMaster(cfg.pubs)
 
   def test_events_defined(self):
     # Ensure all events in capnp schema are defined in events.py
-    events = car.OnroadEvent.EventName.schema.enumerants
+    events = log.OnroadEvent.EventName.schema.enumerants
 
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):

selfdrive/test/cpp_harness.py

@@ -4,8 +4,7 @@ import sys
 
 from openpilot.common.prefix import OpenpilotPrefix
 
-
 with OpenpilotPrefix():
   ret = subprocess.call(sys.argv[1:])
 
-exit(ret)
+sys.exit(ret)

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -64,6 +64,7 @@ class Plant:
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
+    lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
@@ -130,6 +131,7 @@ class Plant:
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
+          'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -108,18 +108,6 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       **kwargs,
     ),
-    Maneuver(
-      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
-      duration=25.,
-      initial_speed=20.,
-      lead_relevancy=False,
-      prob_throttle_values=[1., 0., 0.],
-      cruise_values=[20., 20., 20.],
-      pitch_values=[0., 0.1, 0.1],
-      breakpoints=[0.0, 2., 2.01],
-      ensure_slowdown=True,
-      **kwargs,
-    ),
     Maneuver(
       "approach slower cut-in car at 20m/s",
       duration=20.,
@@ -163,6 +151,20 @@ def create_maneuvers(kwargs):
       **kwargs,
     ),
   ]
+  if not kwargs['e2e']:
+    # allow_throttle won't trigger with e2e
+    maneuvers.append(Maneuver(
+      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=False,
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      ensure_slowdown=True,
+      **kwargs,
+    ))
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(

selfdrive/test/process_replay/README.md

@@ -30,7 +30,7 @@ optional arguments:
   --whitelist-cars WHITELIST_CARS       Whitelist given cars from the test (e.g. HONDA)
   --blacklist-procs BLACKLIST_PROCS     Blacklist given processes from the test (e.g. controlsd)
   --blacklist-cars BLACKLIST_CARS       Blacklist given cars from the test (e.g. HONDA)
-  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. carState.events)
+  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
   --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
   --upload-only                         Skips testing processes and uploads logs from previous test run

selfdrive/test/process_replay/migration.py

@@ -1,76 +1,146 @@
 from collections import defaultdict
+from collections.abc import Callable
+import functools
+import capnp
 
-from cereal import messaging, car
+from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.tools.lib.logreader import LogIterable
 from panda import Panda
 
+MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
+MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
+MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 
-# TODO: message migration should happen in-place
-def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
-  msgs = migrate_sensorEvents(lr)
-  msgs = migrate_carParams(msgs)
-  msgs = migrate_gpsLocation(msgs)
-  msgs = migrate_deviceState(msgs)
-  msgs = migrate_carOutput(msgs)
-  msgs = migrate_controlsState(msgs)
-  msgs = migrate_liveLocationKalman(msgs)
-  msgs = migrate_liveTracks(msgs)
-  msgs = migrate_driverAssistance(msgs)
-  msgs = migrate_drivingModelData(msgs)
+
+## rules for migration functions
+## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
+## 2. it only gets the messages that are in the inputs list
+## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
+## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
+## 5. all migration functions must be independent of each other
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+  migrations = [
+    migrate_sensorEvents,
+    migrate_carParams,
+    migrate_gpsLocation,
+    migrate_deviceState,
+    migrate_carOutput,
+    migrate_controlsState,
+    migrate_carState,
+    migrate_liveLocationKalman,
+    migrate_liveTracks,
+    migrate_driverAssistance,
+    migrate_drivingModelData,
+    migrate_onroadEvents,
+    migrate_driverMonitoringState,
+    migrate_longitudinalPlan,
+  ]
   if manager_states:
-    msgs = migrate_managerState(msgs)
+    migrations.append(migrate_managerState)
   if panda_states:
-    msgs = migrate_pandaStates(msgs)
-    msgs = migrate_peripheralState(msgs)
+    migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
-    msgs = migrate_cameraStates(msgs)
+    migrations.append(migrate_cameraStates)
 
-  return msgs
+  return migrate(lr, migrations)
 
 
-def migrate_driverAssistance(lr):
-  all_msgs = []
-  for msg in lr:
-    all_msgs.append(msg)
-    if msg.which() == 'longitudinalPlan':
-      all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
-    if msg.which() == 'driverAssistance':
-      return lr
-  return all_msgs
+def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
+  lr = list(lr)
+  grouped = defaultdict(list)
+  for i, msg in enumerate(lr):
+    grouped[msg.which()].append(i)
 
-
-def migrate_drivingModelData(lr):
-  all_msgs = []
-  for msg in lr:
-    all_msgs.append(msg)
-    if msg.which() == "modelV2":
-      dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
-      for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
-        setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
-      for meta_field in ["laneChangeState", "laneChangeState"]:
-        setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
-      if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
-        fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
-      if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
-        fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-      all_msgs.append(dmd.as_reader())
-    elif msg.which() == "drivingModelData":
-      return lr
-  return all_msgs
-
-
-def migrate_liveTracks(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != "liveTracksDEPRECATED":
-      all_msgs.append(msg)
+  replace_ops, add_ops, del_ops = [], [], []
+  for migration in migration_funcs:
+    assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator"
+    if migration.product in grouped: # skip if product already exists
       continue
 
+    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    msg_gen = [(i, lr[i]) for i in sorted_indices]
+    r_ops, a_ops, d_ops = migration(msg_gen)
+    replace_ops.extend(r_ops)
+    add_ops.extend(a_ops)
+    del_ops.extend(d_ops)
+
+  for index, msg in replace_ops:
+    lr[index] = msg
+  for index in sorted(del_ops, reverse=True):
+    del lr[index]
+  for msg in add_ops:
+    lr.append(msg)
+  lr = sorted(lr, key=lambda x: x.logMonoTime)
+
+  return lr
+
+
+def migration(inputs: list[str], product: str|None=None):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      return func(*args, **kwargs)
+    wrapper.inputs = inputs
+    wrapper.product = product
+    return wrapper
+  return decorator
+
+
+@migration(inputs=["longitudinalPlan", "carParams"])
+def migrate_longitudinalPlan(msgs):
+  ops = []
+
+  needs_migration = all(msg.longitudinalPlan.aTarget == 0.0 for _, msg in msgs if msg.which() == 'longitudinalPlan')
+  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
+  if not needs_migration or CP is None:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() != 'longitudinalPlan':
+      continue
+    new_msg = msg.as_builder()
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(CP, msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
+@migration(inputs=["longitudinalPlan"], product="driverAssistance")
+def migrate_driverAssistance(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["modelV2"], product="drivingModelData")
+def migrate_drivingModelData(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
+      setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
+    for meta_field in ["laneChangeState", "laneChangeState"]:
+      setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
+    if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
+      fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
+    if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
+      fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
+    add_ops.append( dmd.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
+def migrate_liveTracks(msgs):
+  ops = []
+  for index, msg in msgs:
     new_msg = messaging.new_message('liveTracks')
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
@@ -88,128 +158,112 @@ def migrate_liveTracks(lr):
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_liveLocationKalman(lr):
-  # migration needed only for routes before livePose
-  if any(msg.which() == 'livePose' for msg in lr):
-    return lr
-
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'liveLocationKalmanDEPRECATED':
-      all_msgs.append(msg)
-      continue
-
+@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
+def migrate_liveLocationKalman(msgs):
+  nans = [float('nan')] * 3
+  ops = []
+  for index, msg in msgs:
     m = messaging.new_message('livePose')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
       lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
-      lp_field.x, lp_field.y, lp_field.z = llk_field.value
-      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
+      lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
+      lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
-
-    all_msgs.append(m.as_reader())
-
-  return all_msgs
+    ops.append((index, m.as_reader()))
+  return ops, [], []
 
 
-def migrate_controlsState(lr):
-  ret = []
+@migration(inputs=["controlsState"], product="selfdriveState")
+def migrate_controlsState(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    m = messaging.new_message('selfdriveState')
+    m.valid = msg.valid
+    m.logMonoTime = msg.logMonoTime
+    ss = m.selfdriveState
+    for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
+                  "alertStatus", "alertSize", "alertType", "experimentalMode",
+                  "personality"):
+      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+    add_ops.append(m.as_reader())
+  return [], add_ops, []
+
+
+@migration(inputs=["carState", "controlsState"])
+def migrate_carState(msgs):
+  ops = []
   last_cs = None
-  for msg in lr:
+  for index, msg in msgs:
     if msg.which() == 'controlsState':
       last_cs = msg
-
-      m = messaging.new_message('selfdriveState')
-      m.valid = msg.valid
-      m.logMonoTime = msg.logMonoTime
-      ss = m.selfdriveState
-      for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
-                    "alertStatus", "alertSize", "alertType", "experimentalMode",
-                    "personality"):
-        setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
-      ret.append(m.as_reader())
     elif msg.which() == 'carState' and last_cs is not None:
       if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
         msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
         msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
-        msg = msg.as_reader()
-
-    ret.append(msg)
-  return ret
+        ops.append((index, msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_managerState(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != "managerState":
-      all_msgs.append(msg)
-      continue
-
+@migration(inputs=["managerState"])
+def migrate_managerState(msgs):
+  ops = []
+  for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_gpsLocation(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
-      new_msg = msg.as_builder()
-      g = getattr(new_msg, new_msg.which())
-      # hasFix is a newer field
-      if not g.hasFix and g.flags == 1:
-        g.hasFix = True
-      all_msgs.append(new_msg.as_reader())
-    else:
-      all_msgs.append(msg)
-  return all_msgs
+@migration(inputs=["gpsLocation", "gpsLocationExternal"])
+def migrate_gpsLocation(msgs):
+  ops = []
+  for index, msg in msgs:
+    new_msg = msg.as_builder()
+    g = getattr(new_msg, new_msg.which())
+    # hasFix is a newer field
+    if not g.hasFix and g.flags == 1:
+      g.hasFix = True
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_deviceState(lr):
-  all_msgs = []
+@migration(inputs=["deviceState", "initData"])
+def migrate_deviceState(msgs):
+  ops = []
   dt = None
-  for msg in lr:
+  for i, msg in msgs:
     if msg.which() == 'initData':
       dt = msg.initData.deviceType
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = dt
-      all_msgs.append(n.as_reader())
-    else:
-      all_msgs.append(msg)
-  return all_msgs
+      ops.append((i, n.as_reader()))
+  return ops, [], []
 
 
-def migrate_carOutput(lr):
-  # migration needed only for routes before carOutput
-  if any(msg.which() == 'carOutput' for msg in lr):
-    return lr
-
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carControl':
-      co = messaging.new_message('carOutput')
-      co.valid = msg.valid
-      co.logMonoTime = msg.logMonoTime
-      co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-      all_msgs.append(co.as_reader())
-    all_msgs.append(msg)
-  return all_msgs
+@migration(inputs=["carControl"], product="carOutput")
+def migrate_carOutput(msgs):
+  add_ops = []
+  for _, msg in msgs:
+    co = messaging.new_message('carOutput')
+    co.valid = msg.valid
+    co.logMonoTime = msg.logMonoTime
+    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+    add_ops.append(co.as_reader())
+  return [], add_ops, []
 
 
-def migrate_pandaStates(lr):
-  all_msgs = []
+@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"])
+def migrate_pandaStates(msgs):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
@@ -217,11 +271,12 @@ def migrate_pandaStates(lr):
     "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 
-  # Migrate safety param base on carState
-  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  # Migrate safety param base on carParams
+  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
   assert CP is not None, "carParams message not found"
-  if CP.carFingerprint in safety_param_migration:
-    safety_param = safety_param_migration[CP.carFingerprint]
+  fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
+  if fingerprint in safety_param_migration:
+    safety_param = safety_param_migration[fingerprint]
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
     if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
@@ -229,49 +284,45 @@ def migrate_pandaStates(lr):
   else:
     safety_param = CP.safetyParamDEPRECATED
 
-  for msg in lr:
+  ops = []
+  for index, msg in msgs:
     if msg.which() == 'pandaStateDEPRECATED':
       new_msg = messaging.new_message('pandaStates', 1)
       new_msg.valid = msg.valid
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      all_msgs.append(new_msg.as_reader())
+      ops.append((index, new_msg.as_reader()))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
-      all_msgs.append(new_msg.as_reader())
-    else:
-      all_msgs.append(msg)
-
-  return all_msgs
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
 
 
-def migrate_peripheralState(lr):
-  if any(msg.which() == "peripheralState" for msg in lr):
-    return lr
+@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState")
+def migrate_peripheralState(msgs):
+  add_ops = []
 
-  all_msg = []
-  for msg in lr:
-    all_msg.append(msg)
-    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+  which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED"
+  for _, msg in msgs:
+    if msg.which() != which:
       continue
-
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    all_msg.append(new_msg.as_reader())
-
-  return all_msg
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, []
 
 
-def migrate_cameraStates(lr):
-  all_msgs = []
+@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
+def migrate_cameraStates(msgs):
+  add_ops, del_ops = [], []
   frame_to_encode_id = defaultdict(dict)
   # just for encodeId fallback mechanism
   min_frame_id = defaultdict(lambda: float('inf'))
 
-  for msg in lr:
+  for _, msg in msgs:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
       continue
 
@@ -281,9 +332,8 @@ def migrate_cameraStates(lr):
     assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
 
-  for msg in lr:
+  for index, msg in msgs:
     if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
-      all_msgs.append(msg)
       continue
 
     camera_state = getattr(msg, msg.which())
@@ -293,6 +343,7 @@ def migrate_cameraStates(lr):
     if encode_id is None:
       print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
       if len(frame_to_encode_id[msg.which()]) != 0:
+        del_ops.append(index)
         continue
 
       # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
@@ -313,33 +364,27 @@ def migrate_cameraStates(lr):
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.valid = msg.valid
 
-    all_msgs.append(new_msg.as_reader())
-
-  return all_msgs
+    del_ops.append(index)
+    add_ops.append(new_msg.as_reader())
+  return [], add_ops, del_ops
 
 
-def migrate_carParams(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carParams':
-      CP = msg.as_builder()
-      CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
-      for car_fw in CP.carParams.carFw:
-        car_fw.brand = CP.carParams.carName
-      CP.logMonoTime = msg.logMonoTime
-      msg = CP.as_reader()
-    all_msgs.append(msg)
-
-  return all_msgs
+@migration(inputs=["carParams"])
+def migrate_carParams(msgs):
+  ops = []
+  for index, msg in msgs:
+    CP = msg.as_builder()
+    CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
+    for car_fw in CP.carParams.carFw:
+      car_fw.brand = CP.carParams.carName
+    ops.append((index, CP.as_reader()))
+  return ops, [], []
 
 
-def migrate_sensorEvents(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'sensorEventsDEPRECATED':
-      all_msgs.append(msg)
-      continue
-
+@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents")
+def migrate_sensorEvents(msgs):
+  add_ops, del_ops = [], []
+  for index, msg in msgs:
     # migrate to split sensor events
     for evt in msg.sensorEventsDEPRECATED:
       # build new message for each sensor type
@@ -367,6 +412,36 @@ def migrate_sensorEvents(lr):
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      all_msgs.append(m.as_reader())
+      add_ops.append(m.as_reader())
+    del_ops.append(index)
+  return [], add_ops, del_ops
 
-  return all_msgs
+
+@migration(inputs=["onroadEventsDEPRECATED"], product="onroadEvents")
+def migrate_onroadEvents(msgs):
+  ops = []
+  for index, msg in msgs:
+    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg.valid = msg.valid
+    new_msg.logMonoTime = msg.logMonoTime
+
+    # dict converts name enum into string representation
+    new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED if
+                            not str(event.name).endswith('DEPRECATED')]
+    ops.append((index, new_msg.as_reader()))
+
+  return ops, [], []
+
+
+@migration(inputs=["driverMonitoringState"])
+def migrate_driverMonitoringState(msgs):
+  ops = []
+  for index, msg in msgs:
+    msg = msg.as_builder()
+    # dict converts name enum into string representation
+    msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in
+                                        msg.driverMonitoringState.eventsDEPRECATED if
+                                        not str(event.name).endswith('DEPRECATED')]
+    ops.append((index, msg.as_reader()))
+
+  return ops, [], []

selfdrive/test/process_replay/model_replay.py

@@ -3,14 +3,19 @@ import os
 import sys
 from collections import defaultdict
 from typing import Any
+import tempfile
+from itertools import zip_longest
+
+import matplotlib.pyplot as plt
 
 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
-from openpilot.tools.lib.openpilotci import BASE_URL, get_url
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
+from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
@@ -19,10 +24,85 @@ MAX_FRAMES = 100 if PC else 600
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
+DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
+API_TOKEN = os.getenv("GITHUB_COMMENTS_TOKEN","")
+MODEL_REPLAY_BUCKET="model_replay_master"
+GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
-def get_log_fn(ref_commit, test_route):
-  return f"{test_route}_model_tici_{ref_commit}.bz2"
 
+def get_log_fn(test_route, ref="master"):
+  return f"{test_route}_model_tici_{ref}.bz2"
+
+def plot(proposed, master, title, tmp):
+  proposed = list(proposed)
+  master = list(master)
+  fig, ax = plt.subplots()
+  ax.plot(proposed, label='PROPOSED')
+  ax.plot(master, label='MASTER')
+  plt.legend(loc='best')
+  plt.title(title)
+  plt.savefig(f'{tmp}/{title}.png')
+  return (title + '.png', proposed == master)
+
+def get_event(logs, event):
+  return (getattr(m, m.which()) for m in filter(lambda m: m.which() == event, logs))
+
+def zl(array, fill):
+  return zip_longest(array, [], fillvalue=fill)
+
+def generate_report(proposed, master, tmp, commit):
+  ModelV2_Plots = zl([
+                     (lambda x: x.velocity.x[0], "velocity.x"),
+                     (lambda x: x.action.desiredCurvature, "desiredCurvature"),
+                     (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
+                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
+                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                    ], "modelV2")
+
+  return [plot(map(v[0], get_event(proposed, event)), \
+               map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
+               for v,event in [*ModelV2_Plots]]
+
+def create_table(title, files, link, open_table=False):
+  if not files:
+    return ""
+  table = [f'<details {"open" if open_table else ""}><summary>{title}</summary><table>']
+  for i,f in enumerate(files):
+    if not (i % 2):
+      table.append("<tr>")
+    table.append(f'<td><img src=\\"{link}/{f[0]}\\"></td>')
+    if (i % 2):
+      table.append("</tr>")
+  table.append("</table></details>")
+  table = "".join(table)
+  return table
+
+def comment_replay_report(proposed, master, full_logs):
+  with tempfile.TemporaryDirectory() as tmp:
+    PR_BRANCH = os.getenv("GIT_BRANCH","")
+    DATA_BUCKET = f"model_replay_{PR_BRANCH}"
+
+    try:
+      GITHUB.get_pr_number(PR_BRANCH)
+    except Exception:
+      print("No PR associated with this branch. Skipping report.")
+      return
+
+    commit = get_commit()
+    files = generate_report(proposed, master, tmp, commit)
+
+    GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
+
+    log_name = get_log_fn(TEST_ROUTE, commit)
+    save_log(log_name, full_logs)
+    GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)
+
+    diff_files = [x for x in files if not x[1]]
+    link = GITHUB.get_bucket_link(DATA_BUCKET)
+    diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
+    all_plots = create_table("All Model Replay Plots", files, link)
+    comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
+    GITHUB.comment_on_pr(comment, PR_BRANCH)
 
 def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
   all_msgs = []
@@ -68,9 +148,8 @@ def model_replay(lr, frs):
 
 
 if __name__ == "__main__":
-  update = "--update" in sys.argv
+  update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
-  ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
 
   # load logs
   lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
@@ -88,11 +167,9 @@ if __name__ == "__main__":
   # get diff
   failed = False
   if not update:
-    with open(ref_commit_fn) as f:
-      ref_commit = f.read().strip()
-    log_fn = get_log_fn(ref_commit, TEST_ROUTE)
+    log_fn = get_log_fn(TEST_ROUTE)
     try:
-      all_logs = list(LogReader(BASE_URL + log_fn))
+      all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
       cmp_log = []
 
       # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
@@ -134,11 +211,13 @@ if __name__ == "__main__":
             ignore.append(f'modelV2.roadEdges.{i}.{field}')
       tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
-      log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
+      log_paths: Any = {TEST_ROUTE: {"models": {'ref': log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
+      diff_short, diff_long, failed = format_diff(results, log_paths, 'master')
 
       if "CI" in os.environ:
+        comment_replay_report(log_msgs, cmp_log, log_msgs)
+        failed = False
         print(diff_long)
       print('-------------\n'*5)
       print(diff_short)
@@ -149,22 +228,13 @@ if __name__ == "__main__":
       failed = True
 
   # upload new refs
-  if (update or failed) and not PC:
-    from openpilot.tools.lib.openpilotci import upload_file
-
+  if update and not PC:
     print("Uploading new refs")
-
-    new_commit = get_commit()
-    log_fn = get_log_fn(new_commit, TEST_ROUTE)
+    log_fn = get_log_fn(TEST_ROUTE)
     save_log(log_fn, log_msgs)
     try:
-      upload_file(log_fn, os.path.basename(log_fn))
+      GITHUB.upload_file(MODEL_REPLAY_BUCKET, os.path.basename(log_fn), log_fn)
     except Exception as e:
       print("failed to upload", e)
 
-    with open(ref_commit_fn, 'w') as f:
-      f.write(str(new_commit))
-
-    print("\n\nNew ref commit: ", new_commit)
-
   sys.exit(int(failed))

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +0,0 @@
-05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7

selfdrive/test/process_replay/process_replay.py

@@ -17,14 +17,13 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
-from opendbc.car import structs
 from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
+from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -213,7 +212,7 @@ class ProcessContainer:
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
+        vipc_server.create_buffers(meta.stream, 2, *frame_size)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
@@ -363,14 +362,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     cached_params = None
     if has_cached_cp:
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-        cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+        cached_params = _cached_params
 
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-  params.put("CarParams", convert_to_capnp(CP).to_bytes())
+  params.put("CarParams", CP.to_bytes())
 
 
 def selfdrived_rcv_callback(msg, cfg, frame):
@@ -467,7 +466,7 @@ CONFIGS = [
       "longitudinalPlan", "livePose", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance",
+      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
@@ -509,7 +508,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d8a02c23f530dd236553b47ff7f0355929fe15fc
+992ac80ef848afb85562ca24b1c5a3d410aacd05

selfdrive/test/process_replay/test_processes.py

@@ -42,7 +42,7 @@ source_segments = [
 segments = [
   ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
   ("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
-  ("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"),
+  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
   ("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
   ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
   ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
@@ -60,7 +60,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -135,7 +135,7 @@ if __name__ == "__main__":
   parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
                       help="Blacklist given cars from the test (e.g. HONDA)")
   parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
-                      help="Extra fields or msgs to ignore (e.g. carState.events)")
+                      help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)")
   parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
                       help="Msgs to ignore (e.g. carEvents)")
   parser.add_argument("--update-refs", action="store_true",

selfdrive/test/test_onroad.py

@@ -13,7 +13,7 @@ from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
 
-from cereal import car
+from cereal import car, log
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
@@ -38,7 +38,7 @@ PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
   "selfdrive.selfdrived.selfdrived": 16.0,
-  "selfdrive.car.card": 30.0,
+  "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
@@ -53,7 +53,7 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
-  "selfdrive.ui.soundd": 3.38,
+  "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
@@ -143,6 +143,9 @@ class TestOnroad:
           route = params.get("CurrentRoute", encoding="utf-8")
           time.sleep(0.1)
 
+        # test car params caching
+        params.put("CarParamsCache", car.CarParams().to_bytes())
+
         while len(cls.segments) < 3:
           segs = set()
           if Path(Paths.log_root()).exists():
@@ -208,13 +211,13 @@ class TestOnroad:
   def test_log_sizes(self):
     for f, sz in self.log_sizes.items():
       if f.name == "qcamera.ts":
-        assert 2.15 < sz < 2.35
+        assert 2.15 < sz < 2.6
       elif f.name == "qlog":
         assert 0.4 < sz < 0.55
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):
-        assert 70 < sz < 77
+        assert 70 < sz < 80
       else:
         raise NotImplementedError
 
@@ -422,7 +425,7 @@ class TestOnroad:
       if msg.which() == "selfdriveState":
         startup_alert = msg.selfdriveState.alertText1
         break
-    expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
+    expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
     assert startup_alert == expected, "wrong startup alert"
 
   def test_engagable(self):

selfdrive/test/test_time_to_onroad.py

@@ -3,13 +3,13 @@ import pytest
 import time
 import subprocess
 
-from cereal import car
+from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 
 @pytest.mark.tici

selfdrive/ui/SConscript

@@ -28,9 +28,9 @@ qt_libs = [widgets, qt_util] + base_libs
 
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
-          "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
+          "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
-          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
+          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
 # build translation files

selfdrive/ui/qt/home.cc

@@ -33,11 +33,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   body = new BodyWindow(this);
   slayout->addWidget(body);
 
-  driver_view = new DriverViewWindow(this);
-  connect(driver_view, &DriverViewWindow::done, [=] {
-    showDriverView(false);
-  });
-  slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
@@ -68,16 +63,6 @@ void HomeWindow::offroadTransition(bool offroad) {
   }
 }
 
-void HomeWindow::showDriverView(bool show) {
-  if (show) {
-    emit closeSettings();
-    slayout->setCurrentWidget(driver_view);
-  } else {
-    slayout->setCurrentWidget(home);
-  }
-  sidebar->setVisible(show == false);
-}
-
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {

selfdrive/ui/qt/home.h

@@ -8,7 +8,6 @@
 #include <QWidget>
 
 #include "common/params.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
@@ -53,7 +52,6 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
-  void showDriverView(bool show);
   void showSidebar(bool show);
 
 protected:
@@ -65,7 +63,6 @@ private:
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
-  DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
 private slots:

selfdrive/ui/qt/network/networking.cc

@@ -149,10 +149,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
   list->addItem(ipLabel);
 
-  // SSH keys
-  list->addItem(new SshToggle());
-  list->addItem(new SshControl());
-
   // Roaming toggle
   const bool roamingEnabled = params.getBool("GsmRoaming");
   roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);

selfdrive/ui/qt/network/wifi_manager.cc

@@ -448,6 +448,7 @@ void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
     });
   }
   call->deleteLater();
+  tethering_on = true;
 }
 
 void WifiManager::setTetheringEnabled(bool enabled) {
@@ -465,6 +466,7 @@ void WifiManager::setTetheringEnabled(bool enabled) {
 
   } else {
     deactivateConnectionBySsid(tethering_ssid);
+    tethering_on = false;
   }
 }
 

selfdrive/ui/qt/network/wifi_manager.h

@@ -42,6 +42,7 @@ public:
   QMap<QString, Network> seenNetworks;
   QMap<QDBusObjectPath, QString> knownConnections;
   QString ipv4_address;
+  bool tethering_on = false;
   bool ipv4_forward = false;
 
   explicit WifiManager(QObject* parent);

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -0,0 +1,36 @@
+#include <QDebug>
+
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
+  // SSH keys
+  addItem(new SshToggle());
+  addItem(new SshControl());
+
+  joystickToggle = new ParamControl("JoystickDebugMode", tr("Joystick Debug Mode"), "", "");
+  QObject::connect(joystickToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    params.putBool("LongitudinalManeuverMode", false);
+    longManeuverToggle->refresh();
+  });
+  addItem(joystickToggle);
+
+  longManeuverToggle = new ParamControl("LongitudinalManeuverMode", tr("Longitudinal Maneuver Mode"), "", "");
+  QObject::connect(longManeuverToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    params.putBool("JoystickDebugMode", false);
+    joystickToggle->refresh();
+  });
+  addItem(longManeuverToggle);
+
+  // Joystick and longitudinal maneuvers should be hidden on release branches
+  // also the toggles should be not available to change in onroad state
+  const bool is_release = params.getBool("IsReleaseBranch");
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<ParamControl *>()) {
+      btn->setVisible(!is_release);
+      btn->setEnabled(offroad);
+    }
+  });
+
+}

selfdrive/ui/qt/offroad/developer_panel.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class DeveloperPanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit DeveloperPanel(SettingsWindow *parent);
+
+private:
+  Params params;
+  ParamControl* joystickToggle;
+  ParamControl* longManeuverToggle;
+};

selfdrive/ui/qt/offroad/driverview.cc

@@ -5,28 +5,7 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-const int FACE_IMG_SIZE = 130;
-
 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
-  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
-  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
-    if (isVisible()) {
-      emit done();
-    }
-  });
-}
-
-void DriverViewWindow::showEvent(QShowEvent* event) {
-  params.putBool("IsDriverViewEnabled", true);
-  device()->resetInteractiveTimeout(60);
-  CameraWidget::showEvent(event);
-}
-
-void DriverViewWindow::hideEvent(QHideEvent* event) {
-  params.putBool("IsDriverViewEnabled", false);
-  stopVipcThread();
-  CameraWidget::hideEvent(event);
 }
 
 void DriverViewWindow::paintGL() {
@@ -68,12 +47,8 @@ void DriverViewWindow::paintGL() {
     p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
   }
 
-  // icon
-  const int img_offset = 60;
-  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
-  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.2);
-  p.drawPixmap(img_x, img_y, face_img);
+  driver_monitor.updateState(*uiState());
+  driver_monitor.draw(p, rect());
 }
 
 mat4 DriverViewWindow::calcFrameMatrix() {
@@ -87,3 +62,20 @@ mat4 DriverViewWindow::calcFrameMatrix() {
     0.0,  0.0, 0.0, 1.0,
   }};
 }
+
+DriverViewDialog::DriverViewDialog(QWidget *parent) : DialogBase(parent) {
+  Params().putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  auto camera = new DriverViewWindow(this);
+  main_layout->addWidget(camera);
+  QObject::connect(camera, &DriverViewWindow::clicked, this, &DialogBase::accept);
+  QObject::connect(device(), &Device::interactiveTimeout, this, &DialogBase::accept);
+}
+
+void DriverViewDialog::done(int r) {
+  Params().putBool("IsDriverViewEnabled", false);
+  QDialog::done(r);
+}

selfdrive/ui/qt/offroad/driverview.h

@@ -1,22 +1,21 @@
 #pragma once
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 class DriverViewWindow : public CameraWidget {
   Q_OBJECT
-
 public:
   explicit DriverViewWindow(QWidget *parent);
-
-signals:
-  void done();
-
-protected:
-  mat4 calcFrameMatrix() override;
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
   void paintGL() override;
-
-  Params params;
-  QPixmap face_img;
+  mat4 calcFrameMatrix() override;
+  DriverMonitorRenderer driver_monitor;
+};
+
+class DriverViewDialog : public DialogBase {
+  Q_OBJECT
+public:
+  DriverViewDialog(QWidget *parent);
+  void done(int r) override;
 };

selfdrive/ui/qt/offroad/settings.cc

@@ -8,12 +8,13 @@
 
 #include "common/watchdog.h"
 #include "common/util.h"
+#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -204,7 +205,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
                                    tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
-  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
+  connect(dcamBtn, &ButtonControl::clicked, [this, dcamBtn]() {
+    dcamBtn->setEnabled(false);
+    DriverViewDialog driver_view(this);
+    driver_view.exec();
+    dcamBtn->setEnabled(true);
+  });
   addItem(dcamBtn);
 
   auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
@@ -376,7 +382,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   // setup panels
   DevicePanel *device = new DevicePanel(this);
   QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
-  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
@@ -389,6 +394,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Network"), networking},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
+    {tr("Developer"), new DeveloperPanel(this)},
   };
 
   nav_btns = new QButtonGroup(this);

selfdrive/ui/qt/offroad/settings.h

@@ -28,7 +28,6 @@ protected:
 signals:
   void closeSettings();
   void reviewTrainingGuide();
-  void showDriverView();
   void expandToggleDescription(const QString &param);
 
 private:
@@ -45,7 +44,6 @@ public:
 
 signals:
   void reviewTrainingGuide();
-  void showDriverView();
 
 private slots:
   void poweroff();

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -75,8 +75,7 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
     0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
     0.0f, 0.0f, 1.0f).finished();
 
-  s->car_space_transform = video_transform * calib_transform;
-  s->clip_region = rect().adjusted(-500, -500, 500, 500);
+  model.setTransform(video_transform * calib_transform);
 
   float zx = zoom * 2 * center_x / w;
   float zy = zoom * 2 * center_y / h;
@@ -88,106 +87,10 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
   }};
 }
 
-void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
-  painter.save();
-
-  const UIScene &scene = s->scene;
-  SubMaster &sm = *(s->sm);
-
-  // lanelines
-  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i]);
-  }
-
-  // road edges
-  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i]);
-  }
-
-  // paint path
-  QLinearGradient bg(0, height(), 0, 0);
-  if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
-    // The first half of track_vertices are the points for the right side of the path
-    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
-    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
-
-    for (int i = 0; i < max_len; ++i) {
-      // Some points are out of frame
-      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
-      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
-
-      // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
-
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
-
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
-      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-
-      // Skip a point, unless next is last
-      i += (i + 2) < max_len ? 1 : 0;
-    }
-
-  } else {
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
-  }
-
-  painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices);
-
-  painter.restore();
-}
-
-void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
-  painter.save();
-
-  const float speedBuff = 10.;
-  const float leadBuff = 40.;
-  const float d_rel = lead_data.getDRel();
-  const float v_rel = lead_data.getVRel();
-
-  float fillAlpha = 0;
-  if (d_rel < leadBuff) {
-    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
-    if (v_rel < 0) {
-      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
-    }
-    fillAlpha = (int)(fmin(fillAlpha, 255));
-  }
-
-  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-  float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
-  float y = std::fmin(height() - sz * .6, (float)vd.y());
-
-  float g_xo = sz / 5;
-  float g_yo = sz / 10;
-
-  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
-  painter.drawPolygon(glow, std::size(glow));
-
-  // chevron
-  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(redColor(fillAlpha));
-  painter.drawPolygon(chevron, std::size(chevron));
-
-  painter.restore();
-}
-
 void AnnotatedCameraWidget::paintGL() {
   UIState *s = uiState();
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
-  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
 
   // draw camera frame
   {
@@ -218,7 +121,7 @@ void AnnotatedCameraWidget::paintGL() {
       wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-    CameraWidget::setFrameId(model.getFrameId());
+    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
     CameraWidget::paintGL();
   }
 
@@ -226,24 +129,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->scene.world_objects_visible) {
-    update_model(s, model);
-    drawLaneLines(painter, s);
-
-    if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
-      auto radar_state = sm["radarState"].getRadarState();
-      update_leads(s, radar_state, model.getPosition());
-      auto lead_one = radar_state.getLeadOne();
-      auto lead_two = radar_state.getLeadTwo();
-      if (lead_one.getStatus()) {
-        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
-      }
-      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
-      }
-    }
-  }
-
+  model.draw(painter, rect());
   dmon.draw(painter, rect());
   hud.updateState(*s);
   hud.draw(painter, rect());

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -5,6 +5,7 @@
 #include "selfdrive/ui/qt/onroad/hud.h"
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
 class AnnotatedCameraWidget : public CameraWidget {
@@ -19,6 +20,7 @@ private:
   ExperimentalButton *experimental_btn;
   DriverMonitorRenderer dmon;
   HudRenderer hud;
+  ModelRenderer model;
   std::unique_ptr<PubMaster> pm;
 
   int skip_frame_count = 0;
@@ -29,9 +31,6 @@ protected:
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
   mat4 calcFrameMatrix() override;
-  void drawLaneLines(QPainter &painter, const UIState *s);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;

selfdrive/ui/qt/onroad/hud.cc

@@ -13,7 +13,7 @@ void HudRenderer::updateState(const UIState &s) {
   status = s.status;
 
   const SubMaster &sm = *(s.sm);
-  if (!sm.alive("carState")) {
+  if (sm.rcv_frame("carState") < s.scene.started_frame) {
     is_cruise_set = false;
     set_speed = SET_SPEED_NA;
     speed = 0.0;

selfdrive/ui/qt/onroad/model.cc

@@ -0,0 +1,249 @@
+#include "selfdrive/ui/qt/onroad/model.h"
+
+constexpr int CLIP_MARGIN = 500;
+constexpr float MIN_DRAW_DISTANCE = 10.0;
+constexpr float MAX_DRAW_DISTANCE = 100.0;
+
+static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
+  const auto &line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
+}
+
+void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  // Check if data is up-to-date
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
+  }
+
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+
+  painter.save();
+
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+
+  update_model(model, lead_one);
+  drawLaneLines(painter);
+  drawPath(painter, model, surface_rect.height());
+
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  painter.restore();
+}
+
+void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
+  for (int i = 0; i < 2; ++i) {
+    const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
+    if (lead_data.getStatus()) {
+      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
+      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
+    }
+  }
+}
+
+void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  const auto &model_position = model.getPosition();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+
+  // update lane lines
+  const auto &lane_lines = model.getLaneLines();
+  const auto &line_probs = model.getLaneLineProbs();
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  for (int i = 0; i < std::size(lane_line_vertices); i++) {
+    lane_line_probs[i] = line_probs[i];
+    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+  }
+
+  // update road edges
+  const auto &road_edges = model.getRoadEdges();
+  const auto &edge_stds = model.getRoadEdgeStds();
+  for (int i = 0; i < std::size(road_edge_vertices); i++) {
+    road_edge_stds[i] = edge_stds[i];
+    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+  }
+
+  // update path
+  if (lead.getStatus()) {
+    const float lead_d = lead.getDRel() * 2.;
+    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
+  }
+  max_idx = get_path_length_idx(model_position, max_distance);
+  mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
+}
+
+void ModelRenderer::drawLaneLines(QPainter &painter) {
+  // lanelines
+  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+    painter.drawPolygon(lane_line_vertices[i]);
+  }
+
+  // road edges
+  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+    painter.drawPolygon(road_edge_vertices[i]);
+  }
+}
+
+void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
+  QLinearGradient bg(0, height, 0, 0);
+  if (experimental_mode) {
+    // The first half of track_vertices are the points for the right side of the path
+    const auto &acceleration = model.getAcceleration().getX();
+    const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
+
+    for (int i = 0; i < max_len; ++i) {
+      // Some points are out of frame
+      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
+      if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
+
+      // Flip so 0 is bottom of frame
+      float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
+
+      // speed up: 120, slow down: 0
+      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+      // FIXME: painter.drawPolygon can be slow if hue is not rounded
+      path_hue = int(path_hue * 100 + 0.5) / 100;
+
+      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);        // lighter when grey
+      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+
+      // Skip a point, unless next is last
+      i += (i + 2) < max_len ? 1 : 0;
+    }
+
+  } else {
+    updatePathGradient(bg);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
+}
+
+void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
+  static const QColor throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
+
+  static const QColor no_throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
+  };
+
+  // Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
+  constexpr float transition_speed = 0.1f;
+
+  // Start transition if throttle state changes
+  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle() || !longitudinal_control;
+  if (allow_throttle != prev_allow_throttle) {
+    prev_allow_throttle = allow_throttle;
+    // Invert blend factor for a smooth transition when the state changes mid-animation
+    blend_factor = std::max(1.0f - blend_factor, 0.0f);
+  }
+
+  const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
+  const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
+  if (blend_factor < 1.0f) {
+    blend_factor = std::min(blend_factor + transition_speed, 1.0f);
+  }
+
+  // Set gradient colors by blending the start and end colors
+  bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
+  bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
+  bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
+}
+
+QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
+  if (t == 1.0f) return end;
+  return QColor::fromRgbF(
+      (1 - t) * start.redF() + t * end.redF(),
+      (1 - t) * start.greenF() + t * end.greenF(),
+      (1 - t) * start.blueF() + t * end.blueF(),
+      (1 - t) * start.alphaF() + t * end.alphaF());
+}
+
+void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                             const QPointF &vd, const QRect &surface_rect) {
+  const float speedBuff = 10.;
+  const float leadBuff = 40.;
+  const float d_rel = lead_data.getDRel();
+  const float v_rel = lead_data.getVRel();
+
+  float fillAlpha = 0;
+  if (d_rel < leadBuff) {
+    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
+    if (v_rel < 0) {
+      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
+    }
+    fillAlpha = (int)(fmin(fillAlpha, 255));
+  }
+
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+  float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
+  float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
+
+  float g_xo = sz / 5;
+  float g_yo = sz / 10;
+
+  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
+  painter.setBrush(QColor(218, 202, 37, 255));
+  painter.drawPolygon(glow, std::size(glow));
+
+  // chevron
+  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
+  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  painter.drawPolygon(chevron, std::size(chevron));
+}
+
+// Projects a point in car to space to the corresponding point in full frame image space.
+bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  Eigen::Vector3f input(in_x, in_y, in_z);
+  auto pt = car_space_transform * input;
+  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  return clip_region.contains(*out);
+}
+
+void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
+                                     QPolygonF *pvd, int max_idx, bool allow_invert) {
+  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
+  QPointF left, right;
+  pvd->clear();
+  for (int i = 0; i <= max_idx; i++) {
+    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
+    if (line_x[i] < 0) continue;
+
+    bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
+    bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
+    if (l && r) {
+      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
+      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
+        continue;
+      }
+      pvd->push_back(left);
+      pvd->push_front(right);
+    }
+  }
+}

selfdrive/ui/qt/onroad/model.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <QPainter>
+#include <QPolygonF>
+
+#include "selfdrive/ui/ui.h"
+
+class ModelRenderer {
+public:
+  ModelRenderer() {}
+  void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
+  void draw(QPainter &painter, const QRect &surface_rect);
+
+private:
+  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
+  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
+                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
+  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
+  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
+  void drawLaneLines(QPainter &painter);
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  void updatePathGradient(QLinearGradient &bg);
+  QColor blendColors(const QColor &start, const QColor &end, float t);
+
+  bool longitudinal_control = false;
+  bool experimental_mode = false;
+  float blend_factor = 1.0f;
+  bool prev_allow_throttle = true;
+  float lane_line_probs[4] = {};
+  float road_edge_stds[2] = {};
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4] = {};
+  QPolygonF road_edge_vertices[2] = {};
+  QPointF lead_vertices[2] = {};
+  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
+  QRectF clip_region;
+};

selfdrive/ui/qt/sidebar.cc

@@ -74,9 +74,11 @@ void Sidebar::updateState(const UIState &s) {
 
   auto &sm = *(s.sm);
 
+  networking = networking ? networking : window()->findChild<Networking *>("");
+  bool tethering_on = networking && networking->wifi->tethering_on;
   auto deviceState = sm["deviceState"].getDeviceState();
-  setProperty("netType", network_type[deviceState.getNetworkType()]);
-  int strength = (int)deviceState.getNetworkStrength();
+  setProperty("netType", tethering_on ? "Hotspot": network_type[deviceState.getNetworkType()]);
+  int strength = tethering_on ? 4 : (int)deviceState.getNetworkStrength();
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
   ItemStatus connectStatus;
@@ -131,8 +133,8 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
-  const QRect r = QRect(50, 247, 100, 50);
-  p.drawText(r, Qt::AlignCenter, net_type);
+  const QRect r = QRect(58, 247, width() - 100, 50);
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
   // metrics
   drawMetric(p, temp_status.first, temp_status.second, 338);

selfdrive/ui/qt/sidebar.h

@@ -6,6 +6,7 @@
 #include <QMap>
 
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/network/networking.h"
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
@@ -59,4 +60,5 @@ protected:
 
 private:
   std::unique_ptr<PubMaster> pm;
+  Networking *networking = nullptr;
 };

selfdrive/ui/qt/window.cc

@@ -20,9 +20,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     onboardingWindow->showTrainingGuide();
     main_layout->setCurrentWidget(onboardingWindow);
   });
-  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
-    homeWindow->showDriverView(true);
-  });
 
   onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);

selfdrive/ui/tests/test_runner.cc

@@ -11,6 +11,7 @@ int main(int argc, char **argv) {
   QApplication app(argc, argv);
 
   QString language_file = "main_test_en";
+  // FIXME: pytest-cpp considers this print as a test case
   qDebug() << "Loading language:" << language_file;
 
   QTranslator translator;

selfdrive/ui/tests/test_ui/run.py

@@ -3,11 +3,10 @@ import capnp
 import pathlib
 import shutil
 import sys
-import jinja2
-import matplotlib.pyplot as plt
-import numpy as np
 import os
 import pywinctl
+import pyautogui
+import pickle
 import time
 
 from cereal import log
@@ -19,12 +18,13 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
 
-UI_DELAY = 0.5 # may be slower on CI?
+UI_DELAY = 0.1 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
@@ -42,13 +42,18 @@ def setup_settings_device(click, pm: PubMaster):
 
 def setup_settings_toggles(click, pm: PubMaster):
   setup_settings_device(click, pm)
-  click(278, 760)
+  click(278, 650)
+  time.sleep(UI_DELAY)
+
+def setup_settings_developer(click, pm: PubMaster):
+  setup_settings_device(click, pm)
+  click(278, 960)
   time.sleep(UI_DELAY)
 
 def setup_onroad(click, pm: PubMaster):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
-    vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
+    vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
   vipc_server.start_listener()
 
   uidebug_received_cnt = 0
@@ -175,6 +180,7 @@ CASES = {
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
   "settings_toggles": setup_settings_toggles,
+  "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,
   "onroad_override": setup_onroad_override,
@@ -216,41 +222,20 @@ class TestUI:
       print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
       self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
 
-  def screenshot(self):
-    import pyautogui
-    im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
+  def screenshot(self, name):
+    im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
     assert im.width == 2160
     assert im.height == 1080
-    img = np.array(im)
-    im.close()
-    return img
 
   def click(self, x, y, *args, **kwargs):
-    import pyautogui
     pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
     time.sleep(UI_DELAY) # give enough time for the UI to react
 
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
-
     setup_case(self.click, self.pm)
-
-    im = self.screenshot()
-    plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
-
-
-def create_html_report():
-  OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html"
-
-  with open(TEST_DIR / "template.html") as f:
-    template = jinja2.Template(f.read())
-
-  cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")}
-  cases = dict(sorted(cases.items()))
-
-  with open(OUTPUT_FILE, "w") as f:
-    f.write(template.render(cases=cases))
+    self.screenshot(name)
 
 def create_screenshots():
   if TEST_OUTPUT_DIR.exists():
@@ -263,7 +248,7 @@ def create_screenshots():
   segnum = 2
   lr = LogReader(route.qlog_paths()[segnum])
   DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
-  for event in migrate_controlsState(lr):
+  for event in migrate(lr, [migrate_controlsState, migrate_carState]):
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
 
@@ -271,13 +256,23 @@ def create_screenshots():
       break
 
   cam = DEVICE_CAMERAS[("tici", "ar0231")]
-  road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+
+  frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames'
+  if os.path.isfile(frames_cache):
+    with open(frames_cache, 'rb') as f:
+      frames = pickle.load(f)
+      road_img = frames[0]
+      wide_road_img = frames[1]
+      driver_img = frames[2]
+  else:
+    with open(frames_cache, 'wb') as f:
+      road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      pickle.dump([road_img, wide_road_img, driver_img], f)
+
   STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
-
-  wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
   STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
-
-  driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
   STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
 
   t = TestUI()
@@ -296,6 +291,3 @@ def create_screenshots():
 if __name__ == "__main__":
   print("creating test screenshots")
   create_screenshots()
-
-  print("creating html report")
-  create_html_report()

selfdrive/ui/translations/main_ar.ts

@@ -113,6 +113,17 @@
         <translation>رفض، إلغاء التثبيت %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -618,6 +629,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>البرنامج</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_de.ts

@@ -113,6 +113,17 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -600,6 +611,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_es.ts

@@ -113,6 +113,17 @@
         <translation>Rechazar, desinstalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Esto puede tardar un minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_fr.ts

@@ -113,6 +113,17 @@
         <translation>Refuser, désinstaller %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Software</source>
         <translation>Logiciel</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_ja.ts

@@ -113,6 +113,17 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_ko.ts

@@ -113,6 +113,17 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -113,6 +113,17 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation>Modo Joystick Debug</translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation>Modo Longitudinal Maneuver</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -602,6 +613,10 @@ Isso pode levar até um minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation>Desenvdor</translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_th.ts

@@ -113,6 +113,17 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ซอฟต์แวร์</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_tr.ts

@@ -113,6 +113,17 @@
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Yazılım</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -113,6 +113,17 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>软件</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -113,6 +113,17 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
+<context>
+    <name>DeveloperPanel</name>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>

selfdrive/ui/ui.cc

@@ -14,90 +14,6 @@
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
-// Projects a point in car to space to the corresponding point in full frame
-// image space.
-static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
-  Eigen::Vector3f input(in_x, in_y, in_z);
-  auto transformed = s->car_space_transform * input;
-  *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
-  return s->clip_region.contains(*out);
-}
-
-int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
-  for (int i = 0; i < 2; ++i) {
-    auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
-    if (lead_data.getStatus()) {
-      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
-    }
-  }
-}
-
-void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
-                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
-  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
-  QPointF left, right;
-  pvd->clear();
-  for (int i = 0; i <= max_idx; i++) {
-    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
-    if (line_x[i] < 0) continue;
-
-    bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
-    bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
-    if (l && r) {
-      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
-      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
-        continue;
-      }
-      pvd->push_back(left);
-      pvd->push_front(right);
-    }
-  }
-}
-
-void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model) {
-  UIScene &scene = s->scene;
-  auto model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1),
-                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-
-  // update lane lines
-  const auto lane_lines = model.getLaneLines();
-  const auto lane_line_probs = model.getLaneLineProbs();
-  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
-  for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
-    scene.lane_line_probs[i] = lane_line_probs[i];
-    update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
-  }
-
-  // update road edges
-  const auto road_edges = model.getRoadEdges();
-  const auto road_edge_stds = model.getRoadEdgeStds();
-  for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
-    scene.road_edge_stds[i] = road_edge_stds[i];
-    update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
-  }
-
-  // update path
-  auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
-  if (lead_one.getStatus()) {
-    const float lead_d = lead_one.getDRel() * 2.;
-    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
-  }
-  max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
-}
-
 static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
@@ -136,9 +52,6 @@ static void update_state(UIState *s) {
   } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
     scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
   }
-  if (sm.updated("carParams")) {
-    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
@@ -147,11 +60,6 @@ static void update_state(UIState *s) {
     scene.light_sensor = -1;
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
-
-  scene.world_objects_visible = scene.world_objects_visible ||
-                                (scene.started &&
-                                 sm.rcv_frame("liveCalibration") > scene.started_frame &&
-                                 sm.rcv_frame("modelV2") > scene.started_frame);
 }
 
 void ui_update_params(UIState *s) {
@@ -162,7 +70,7 @@ void ui_update_params(UIState *s) {
 void UIState::updateStatus() {
   if (scene.started && sm->updated("selfdriveState")) {
     auto ss = (*sm)["selfdriveState"].getSelfdriveState();
-    auto state = ss .getState();
+    auto state = ss.getState();
     if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
@@ -177,7 +85,6 @@ void UIState::updateStatus() {
       scene.started_frame = sm->frame;
     }
     started_prev = scene.started;
-    scene.world_objects_visible = false;
     emit offroadTransition(!scene.started);
   }
 }
@@ -186,7 +93,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster>(std::vector<const char*>{
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState",
+    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));

selfdrive/ui/ui.h

@@ -7,7 +7,6 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
-#include <QPolygonF>
 
 #include "cereal/messaging/messaging.h"
 #include "common/mat.h"
@@ -22,8 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
 const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
 
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
 const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
   0.0, 1.0, 0.0,
   0.0, 0.0, 1.0,
@@ -58,21 +55,10 @@ typedef struct UIScene {
   Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
   cereal::PandaState::PandaType pandaType;
 
-  // modelV2
-  float lane_line_probs[4];
-  float road_edge_stds[2];
-  QPolygonF track_vertices;
-  QPolygonF lane_line_vertices[4];
-  QPolygonF road_edge_vertices[2];
-
-  // lead
-  QPointF lead_vertices[2];
-
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, longitudinal_control;
-  bool world_objects_visible = false;
+  bool started, ignition, is_metric;
   uint64_t started_frame;
 } UIScene;
 
@@ -89,13 +75,9 @@ public:
   std::unique_ptr<SubMaster> sm;
   UIStatus status;
   UIScene scene = {};
-
   QString language;
   PrimeState *prime_state;
 
-  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
-  QRectF clip_region;
-
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
@@ -145,11 +127,4 @@ public slots:
 };
 
 Device *device();
-
 void ui_update_params(UIState *s);
-int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
-void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model);
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
-                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);

system/athena/athenad.py

@@ -44,7 +44,7 @@ from openpilot.system.hardware.hw import Paths
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
-LOCAL_PORT_WHITELIST = {8022}
+LOCAL_PORT_WHITELIST = {22, }  # SSH
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -445,6 +445,10 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   try:
+    # migration, can be removed once 0.9.8 is out for a while
+    if local_port == 8022:
+      local_port = 22
+
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 

system/camerad/SConscript

@@ -1,10 +1,11 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
+libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
-camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
-env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
+if arch != "Darwin":
+  camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
+                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+  env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
   env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)

system/camerad/cameras/camera_common.cc

@@ -7,7 +7,6 @@
 
 #include "common/clutil.h"
 #include "common/swaglog.h"
-#include "third_party/linux/include/msm_media_info.h"
 
 #include "system/camerad/cameras/spectra.h"
 
@@ -65,39 +64,34 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
   const SensorInfo *sensor = cam->sensor.get();
 
-  // RAW frame
-  const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
-  camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
-  camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
+  is_raw = cam->is_raw;
+  camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
+  frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
+  // RAW + final frames from ISP
+  const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
   for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs[i].allocate(frame_size);
-    camera_bufs[i].init_cl(device_id, context);
+    camera_bufs_raw[i].allocate(raw_frame_size);
+    camera_bufs_raw[i].init_cl(device_id, context);
   }
   LOGD("allocated %d CL buffers", frame_buf_count);
 
   out_img_width = sensor->frame_width;
   out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
 
-  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, out_img_width);
-  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, out_img_height);
-  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, out_img_width));
-  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, out_img_height));
-  size_t nv12_uv_offset = nv12_width * nv12_height;
-
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
-  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, cam->stride, cam->y_height);
 
-  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset);
+  imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }
 
 CameraBuf::~CameraBuf() {
   for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs[i].free();
+    camera_bufs_raw[i].free();
   }
   if (imgproc) delete imgproc;
 }
@@ -105,18 +99,23 @@ CameraBuf::~CameraBuf() {
 bool CameraBuf::acquire(int expo_time) {
   if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
-  if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
+  if (frame_metadata[cur_buf_idx].frame_id == -1) {
     LOGE("no frame data? wtf");
     return false;
   }
 
-  cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-  cur_yuv_buf = vipc_server->get_buffer(stream_type);
-  cur_camera_buf = &camera_bufs[cur_buf_idx];
+  cur_frame_data = frame_metadata[cur_buf_idx];
+  cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
+  if (is_raw) {
+    cur_yuv_buf = vipc_server->get_buffer(stream_type);
 
-  double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
-  cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+    double start_time = millis_since_boot();
+    imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
+    cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+  } else {
+    cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
+    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6;
+  }
 
   VisionIpcBufExtra extra = {
     cur_frame_data.frame_id,