more

Fixes the GitHub action that was failing when the pipeline was running as a result of a push to master-new because it was not properly recognized as "master"

.github/workflows/auto_pr_review.yaml

@@ -24,7 +24,7 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -37,17 +37,17 @@ jobs:
     # Welcome comment
     - name: "First timers PR"
       uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
             * Before marking as "ready for review", ensure:
               * the goal is clearly stated in the description
               * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant
-      
+

.github/workflows/badges.yaml

@@ -13,7 +13,7 @@ jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
+        git config user.email "badge-researcher@sunnypilot.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg

.github/workflows/ci_weekly_report.yaml

@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,10 +12,10 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}
   tools_tests:
-    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/tools_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/docs.yaml

@@ -34,13 +34,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
+        repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/prebuilt.yaml

@@ -12,7 +12,7 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/release.yaml

@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 10 * * *'
+    - cron: '0 9 * * *'
   workflow_dispatch:
 
 jobs:
@@ -13,7 +13,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write

.github/workflows/repo-maintenance.yaml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/selfdrive_tests.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,10 +15,11 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -31,6 +33,7 @@ env:
 
 jobs:
   build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
@@ -41,14 +44,19 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: git lfs pull
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$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
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -56,7 +64,7 @@ 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 +84,9 @@ 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:
@@ -94,27 +104,32 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   build_mac:
+    if: github.repository == 'commaai/openpilot' # Blocking macos builds as well since they have a 10x miltiplier for GH action minutes, waaaay too much!
     name: build macOS
-    runs-on: macos-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - run: git lfs pull
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
+    - run: git lfs pull
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Getting scons cache
-      uses: 'actions/cache@v4'
+      uses: ./.github/workflows/auto-cache
       with:
         path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
@@ -144,11 +159,12 @@ 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
@@ -165,14 +181,19 @@ jobs:
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Setup cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/comma_download_cache
+        key: unit_tests_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Run unit tests
-      timeout-minutes: 15
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --timeout 60 -m 'not slow' && \
+        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        pytest ./selfdrive/ui/tests/test_translations.py"
+                        chmod -R 777 /tmp/comma_download_cache"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:
@@ -202,7 +223,7 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
-      timeout-minutes: 30
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
         ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
@@ -222,14 +243,8 @@ 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 && \
@@ -249,7 +264,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1]
+        job: [0, 1, 2, 3]
     steps:
     - uses: actions/checkout@v4
       with:
@@ -264,12 +279,12 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 20
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 2
+        NUM_JOBS: 4
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
@@ -333,24 +348,54 @@ 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: ${{ env.REPORT_NAME }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/setup/action.yaml

@@ -20,6 +20,18 @@ runs:
         echo "You should not run this action directly. Use setup-with-retry instead"
         exit 1
 
+    - shell: bash
+      name: No retries!
+      run: |
+        if [ "${{ github.run_attempt }}" -gt 1 ]; then
+          echo -e "\033[31m"
+          echo "##################################################"
+          echo "    Retries not allowed! Fix the flaky test!      "
+          echo "##################################################"
+          echo -e "\033[0m"
+          exit 1
+        fi
+
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
       run: git lfs pull

.github/workflows/stale.yaml

@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

.github/workflows/tools_tests.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_call:
     inputs:
@@ -25,24 +26,6 @@ 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

@@ -3,23 +3,25 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
+      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -52,19 +54,19 @@ 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
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -84,37 +86,35 @@ 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_software 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>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -127,20 +127,13 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi
           done
 
-          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
@@ -79,6 +76,7 @@ selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 
 *.bz2
+*.zst
 
 build/
 

.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"
@@ -62,9 +66,7 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
-${cmd}
-exit 0
-
+time ${cmd}
 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"
@@ -127,82 +170,90 @@ 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)) {
     parallel (
       // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
           // 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", [timeout: 60]),
+          //["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", [timeout: 60]),
+          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", [timeout: 60]),
+          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/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          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

@@ -1,7 +1,15 @@
 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
+* Image processing pipeline moved to the ISP
+  * More GPU time for driving models
+  * Power draw reduced 0.5W, which means your device runs cooler 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
 
 Version 0.9.7 (2024-06-13)

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;
           }
         }

cereal/messaging/tests/test_messaging.py

@@ -168,18 +168,18 @@ class TestMessaging:
 
     # this test doesn't work with ZMQ since multiprocessing interrupts it
     if "ZMQ" not in os.environ:
-      # wait 15 socket timeouts and make sure it's still retrying
+      # wait 5 socket timeouts and make sure it's still retrying
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
-      time.sleep(sock_timeout*15)
+      time.sleep(sock_timeout*5)
       assert p.is_alive()
       p.terminate()
 
-    # wait 15 socket timeouts before sending
+    # wait 5 socket timeouts before sending
     msg = random_carstate()
-    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert (time.monotonic() - start_time) >= sock_timeout*5
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)

cereal/messaging/tests/test_pub_sub_master.py

@@ -63,14 +63,13 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    for _ in range(5):
-      timeout = random.randrange(1000, 5000)
-      start_time = time.monotonic()
-      sm.update(timeout)
-      t = time.monotonic() - start_time
-      assert t >= timeout/1000.
-      assert t < 5
-      assert not any(sm.updated.values())
+    timeout = random.randrange(1000, 3000)
+    start_time = time.monotonic()
+    sm.update(timeout)
+    t = time.monotonic() - start_time
+    assert t >= timeout/1000.
+    assert t < 3
+    assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):

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},

common/params_pyx.pyx

@@ -36,11 +36,16 @@ class UnknownKeyName(Exception):
 
 cdef class Params:
   cdef c_Params* p
+  cdef str d
 
   def __cinit__(self, d=""):
     cdef string path = <string>d.encode()
     with nogil:
       self.p = new c_Params(path)
+    self.d = d
+
+  def __reduce__(self):
+    return (type(self), (self.d,))
 
   def __dealloc__(self):
     del self.p

common/pid.py

@@ -59,15 +59,13 @@ class PIDController:
     if override:
       self.i -= self.i_unwind_rate * float(np.sign(self.i))
     else:
-      i = self.i + error * self.k_i * self.i_rate
-      control = self.p + i + self.d + self.f
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate
 
-      # Update when changing i will move the control away from the limits
-      # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-         not freeze_integrator:
-        self.i = i
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 

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

@@ -30,21 +30,21 @@ 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|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>||
-|Ford|Explorer 2020-23|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 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=Explorer 2020-23">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-23|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 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=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|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=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|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=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|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=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|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=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|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=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|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=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|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=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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|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|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|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>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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=Explorer 2020-24">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 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=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 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=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |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>||

docs/concepts/glossary.md

@@ -1,8 +1,9 @@
 # openpilot glossary
 
-* **route**:
+* **onroad**: openpilot's system state while ignition is on
+* **offroad**: openpilot's system state while ignition is off
+* **route**: a route is a recording of an onroad session
 * **segment**: routes are split into one minute chunks called segments.
-* **panda**: this is . See the repo.
-* **onroad**:
-* **offroad**:
-* **comma 3X**:
+* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
+* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
+* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).

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

@@ -11,6 +11,9 @@ On the comma three, the serial console is exposed through a UART-to-USB chip, an
 
 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
 
+  * Username: `comma`
+  * Password: `comma`
+
 ## SSH
 
 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.

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"

mkdocs.yml

@@ -18,10 +18,12 @@ nav:
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
     - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:
     - Logs: concepts/logs.md
     - Safety: concepts/safety.md
+    - Glossary: concepts/glossary.md
   - Car Porting:
     - What is a car port?: car-porting/what-is-a-car-port.md
     - Porting a car brand: car-porting/brand-port.md

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

release/check-submodules.sh

@@ -1,7 +1,12 @@
 #!/usr/bin/env bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 4000 origin master
+  if [ "$submodule" = "tinygrad_repo" ]; then
+    echo "Skipping $submodule"
+    continue
+  fi
+
+  git -C $submodule fetch --depth 100 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

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

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
@@ -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

@@ -1,6 +1,4 @@
 import capnp
-import copy
-import dataclasses
 import os
 import pytest
 import random
@@ -20,16 +18,18 @@ 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, openpilotci_source_zst, openpilotci_source, internal_source, \
+                                          internal_source_zst, comma_api_source, auto_source
 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 +69,6 @@ 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 +95,7 @@ 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 +115,8 @@ 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 +124,17 @@ 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])
+        source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
+                                              [openpilotci_source_zst, openpilotci_source, comma_api_source])
         lr = LogReader(segment_range, source=source)
         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 +168,7 @@ 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 +176,7 @@ 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 +201,7 @@ 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 +293,17 @@ 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 +387,10 @@ 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 +433,10 @@ 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 +451,6 @@ 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
 
@@ -209,7 +209,7 @@ class Controls:
       self.update()
       CC, lac_log = self.state_control()
       self.publish(CC, lac_log)
-      rk.keep_time()
+      rk.monitor_time()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)

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/dmonitoringmodeld.py

@@ -139,7 +139,6 @@ def main():
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  # last = 0
 
   while True:
     buf = vipc_client.recv()
@@ -155,8 +154,6 @@ def main():
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
-    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
-    # last = t1
 
 
 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/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/pandad.cc

@@ -306,6 +306,16 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
     LOGW("reading hwmon took %lfms", read_time);
   }
 
+  // fall back to panda's voltage and current measurement
+  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
+    auto health_opt = panda->get_state();
+    if (health_opt) {
+      health_t health = *health_opt;
+      ps.setVoltage(health.voltage_pkt);
+      ps.setCurrent(health.current_pkt);
+    }
+  }
+
   uint16_t fan_speed_rpm = panda->get_fan_speed();
   ps.setFanSpeedRpm(fan_speed_rpm);
 

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 +1,147 @@
 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 opendbc.car.ford.values import CAR as FORD, FordFlags
 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
@@ -88,140 +159,127 @@ 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,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
     "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
+  # TODO: get new Ford route
+  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
 
-  # 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 +287,45 @@ 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 +335,8 @@ 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 +346,7 @@ 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 +367,27 @@ 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 +415,36 @@ 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 +24,93 @@ 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")
+  DriverStateV2_Plots = zl([
+                     (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
+                     (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
+                     (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
+                     (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
+                     (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
+                     (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
+                    ], "driverStateV2")
+
+  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] + [*DriverStateV2_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 +156,8 @@ 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 +175,9 @@ 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 +219,13 @@ 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 +236,13 @@ 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
+dd0a40182707975c94a40d19198cd60c88735199

selfdrive/test/process_replay/test_fuzzy.py

@@ -1,4 +1,5 @@
 import copy
+import os
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
 from parameterized import parameterized
@@ -14,13 +15,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))
 
 class TestFuzzProcesses:
 
   # TODO: make this faster and increase examples
   @parameterized.expand(TEST_CASES)
   @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
+            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
   def test_fuzz_process(self, proc_name, cfg, data):
     msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]

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"),
@@ -56,11 +56,11 @@ segments = [
   ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
   ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
+  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
 ]
 
 # 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",
@@ -193,6 +193,10 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
+        # to speed things up, we only test all segments on card
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+          continue
+
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")

selfdrive/test/setup_device_ci.sh

@@ -86,7 +86,7 @@ safe_checkout() {
   rsync -a --delete $SOURCE_DIR $TEST_DIR
 }
 
-unsafe_checkout() {
+unsafe_checkout() {( set -e
   # checkout directly in test dir, leave old build products
 
   cd $TEST_DIR
@@ -105,7 +105,7 @@ unsafe_checkout() {
 
   git lfs pull
   (ulimit -n 65535 && git lfs prune)
-}
+)}
 
 export GIT_PACK_THREADS=8
 
@@ -115,8 +115,13 @@ if [ ! -d "$SOURCE_DIR" ]; then
 fi
 
 if [ ! -z "$UNSAFE" ]; then
-  echo "doing unsafe checkout"
+  echo "trying unsafe checkout"
+  set +e
   unsafe_checkout
+  if [[ "$?" -ne 0 ]]; then
+    safe_checkout
+  fi
+  set -e
 else
   echo "doing safe checkout"
   safe_checkout

selfdrive/test/test_onroad.py

@@ -10,10 +10,10 @@ import time
 import numpy as np
 import zstandard as zstd
 from collections import Counter, defaultdict
-from functools import cached_property
 from pathlib import Path
+from tabulate import tabulate
 
-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
@@ -33,12 +33,15 @@ CPU usage budget
   should not exceed MAX_TOTAL_CPU
 """
 
+TEST_DURATION = 25
+LOG_OFFSET = 8
+
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 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,
@@ -49,28 +52,28 @@ PROCS = {
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 17.0,
   "selfdrive.modeld.dmonitoringmodeld": 11.0,
-  "system.hardware.hardwared": 3.87,
+  "system.hardware.hardwared": 4.0,
   "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,
+  "./proclogd": 2.0,
+  "system.logmessaged": 1.0,
   "system.tombstoned": 0,
-  "./logcatd": 0,
+  "./logcatd": 1.0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
-  "system.statsd": 0.4,
-  "system.loggerd.uploader": (0.5, 15.0),
-  "system.loggerd.deleter": 0.1,
+  "system.statsd": 1.0,
+  "system.loggerd.uploader": 15.0,
+  "system.loggerd.deleter": 1.0,
 }
 
 PROCS.update({
   "tici": {
     "./pandad": 4.0,
-    "./ubloxd": 0.02,
+    "./ubloxd": 1.0,
     "system.ubloxd.pigeond": 6.0,
   },
   "tizi": {
@@ -98,6 +101,13 @@ TIMINGS = {
   "wideRoadCameraState": [1.5, 0.35],
 }
 
+LOGS_SIZE_RATE = {
+  "qlog": 0.0083,
+  "rlog": 0.1528,
+  "qcamera.ts": 0.03828,
+}
+LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
+
 
 def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -124,7 +134,7 @@ class TestOnroad:
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
 
-    # start manager and run openpilot for a minute
+    # start manager and run openpilot for TEST_DURATION
     proc = None
     try:
       manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
@@ -135,23 +145,24 @@ class TestOnroad:
         while sm.recv_frame['carState'] < 0:
           sm.update(1000)
 
-      # make sure we get at least two full segments
       route = None
       cls.segments = []
       with Timeout(300, "timed out waiting for logs"):
         while route is None:
           route = params.get("CurrentRoute", encoding="utf-8")
-          time.sleep(0.1)
+          time.sleep(0.01)
 
-        while len(cls.segments) < 3:
+        # test car params caching
+        params.put("CarParamsCache", car.CarParams().to_bytes())
+
+        while len(cls.segments) < 1:
           segs = set()
           if Path(Paths.log_root()).exists():
             segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
-          time.sleep(2)
+          time.sleep(0.01)
 
-      # chop off last, incomplete segment
-      cls.segments = cls.segments[:-1]
+      time.sleep(TEST_DURATION)
 
     finally:
       cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
@@ -163,9 +174,8 @@ class TestOnroad:
 
     cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]
 
-    # use the second segment by default as it's the first full segment
-    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
-    cls.log_path = cls.segments[1]
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
+    cls.log_path = cls.segments[0]
 
     cls.log_sizes = {}
     for f in cls.log_path.iterdir():
@@ -175,16 +185,13 @@ class TestOnroad:
         with open(f, 'rb') as ff:
           cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6
 
+    cls.msgs = defaultdict(list)
+    for m in cls.lr:
+      cls.msgs[m.which()].append(m)
 
-  @cached_property
-  def service_msgs(self):
-    msgs = defaultdict(list)
-    for m in self.lr:
-      msgs[m.which()].append(m)
-    return msgs
 
   def test_service_frequencies(self, subtests):
-    for s, msgs in self.service_msgs.items():
+    for s, msgs in self.msgs.items():
       if s in ('initData', 'sentinel'):
         continue
 
@@ -193,10 +200,10 @@ class TestOnroad:
         continue
 
       with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
 
   def test_cloudlog_size(self):
-    msgs = [m for m in self.lr if m.which() == 'logMessage']
+    msgs = self.msgs['logMessage']
 
     total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
     assert total_size < 3.5e5
@@ -207,16 +214,10 @@ 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
-      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
-      else:
-        raise NotImplementedError
+      rate = LOGS_SIZE_RATE[f.name]
+      minn = rate * TEST_DURATION * 0.8
+      maxx = rate * TEST_DURATION * 1.2
+      assert minn < sz <  maxx
 
   def test_ui_timings(self):
     result = "\n"
@@ -224,7 +225,7 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
+    ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -241,53 +242,44 @@ class TestOnroad:
     assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"
 
   def test_cpu_usage(self, subtests):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "------------------ CPU Usage -------------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("------------------ CPU Usage -------------------")
+    print("------------------------------------------------")
 
     plogs_by_proc = defaultdict(list)
-    for pl in self.service_msgs['procLog']:
+    for pl in self.msgs['procLog']:
       for x in pl.procLog.procs:
         if len(x.cmdline) > 0:
           n = list(x.cmdline)[0]
           plogs_by_proc[n].append(x)
-    print(plogs_by_proc.keys())
 
     cpu_ok = True
-    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
-    for proc_name, expected_cpu in PROCS.items():
+    dt = (self.msgs['procLog'][-1].logMonoTime - self.msgs['procLog'][0].logMonoTime) / 1e9
+    header = ['process', 'usage', 'expected', 'max allowed', 'test result']
+    rows = []
+    for proc_name, expected in PROCS.items():
 
-      err = ""
-      exp = "???"
-      cpu_usage = 0.
+      error = ""
+      usage = 0.
       x = plogs_by_proc[proc_name]
       if len(x) > 2:
         cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-        cpu_usage = cpu_time / dt * 100.
+        usage = cpu_time / dt * 100.
 
-        if isinstance(expected_cpu, tuple):
-          exp = str(expected_cpu)
-          minn, maxx = expected_cpu
-        else:
-          exp = f"{expected_cpu:5.2f}"
-          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
-          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
+        max_allowed = max(expected * 1.8, expected + 5.0)
+        if usage > max_allowed:
+          error = "❌ USING MORE CPU THAN EXPECTED ❌"
+          cpu_ok = False
 
-        if cpu_usage > maxx:
-          err = "using more CPU than expected"
-        elif cpu_usage < minn:
-          err = "using less CPU than expected"
       else:
-        err = "NO METRICS FOUND"
-
-      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
-      if len(err) > 0:
+        error = "❌ NO METRICS FOUND ❌"
         cpu_ok = False
-    result += "------------------------------------------------\n"
+
+      rows.append([proc_name, usage, expected, max_allowed, error or "✅"])
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
 
     # Ensure there's no missing procs
-    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
+    all_procs = {p.name for p in self.msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
     for p in all_procs:
       with subtests.test(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@@ -296,16 +288,15 @@ class TestOnroad:
     procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
     with subtests.test(name="total CPU"):
       assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
-    result +=  "------------------------------------------------\n"
-    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
-    result +=  "------------------------------------------------\n"
-
-    print(result)
+    print("------------------------------------------------")
+    print(f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left")
+    print("------------------------------------------------")
 
     assert cpu_ok
 
   def test_memory_usage(self):
-    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
+    mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
     print("Memory usage: ", mems)
 
     # check for big leaks. note that memory usage is
@@ -321,7 +312,9 @@ class TestOnroad:
     result += "-------------- ImgProc Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
+    ts = []
+    for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']:
+      ts.extend(getattr(m, s).processingTime for m in self.msgs[s])
     assert min(ts) < 0.025, f"high execution time: {min(ts)}"
     result += f"execution time: min  {min(ts):.5f}s\n"
     result += f"execution time: max  {max(ts):.5f}s\n"
@@ -354,7 +347,7 @@ class TestOnroad:
 
     cfgs = [("longitudinalPlan", 0.05, 0.05),]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -374,7 +367,7 @@ class TestOnroad:
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
       assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
       assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -385,33 +378,32 @@ class TestOnroad:
 
   def test_timings(self):
     passed = True
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "----------------- Service Timings --------------\n"
-    result += "------------------------------------------------\n"
+    print("\n------------------------------------------------")
+    print("----------------- Service Timings --------------")
+    print("------------------------------------------------")
+
+    header = ['service', 'max', 'min', 'mean', 'expected mean', 'rsd', 'max allowed rsd', 'test result']
+    rows = []
     for s, (maxmin, rsd) in TIMINGS.items():
-      msgs = [m.logMonoTime for m in self.service_msgs[s]]
+      offset = int(SERVICE_LIST[s].frequency * LOG_OFFSET)
+      msgs = [m.logMonoTime for m in self.msgs[s][offset:]]
       if not len(msgs):
         raise Exception(f"missing {s}")
 
       ts = np.diff(msgs) / 1e9
       dt = 1 / SERVICE_LIST[s].frequency
 
-      try:
-        np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
-        np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
-      except Exception as e:
-        result += str(e) + "\n"
-        passed = False
+      errors = []
+      if not np.allclose(np.mean(ts), dt, rtol=0.03, atol=0):
+        errors.append("❌ FAILED MEAN TIMING CHECK ❌")
+      if not np.allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, atol=0):
+        errors.append("❌ FAILED MAX/MIN TIMING CHECK ❌")
+      if (np.std(ts)/dt) > rsd:
+        errors.append("❌ FAILED RSD TIMING CHECK ❌")
+      passed = not errors and passed
+      rows.append([s, *(np.array([np.max(ts), np.min(ts), np.mean(ts), dt])*1e3), np.std(ts)/dt, rsd, "\n".join(errors) or "✅"])
 
-      if np.std(ts) / dt > rsd:
-        result += f"{s} - failed RSD timing check\n"
-        passed = False
-
-      result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
-      result += f"{''.ljust(40)}  {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
-    result += "="*67
-    print(result)
+    print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".2f"))
     assert passed
 
   @release_only
@@ -422,16 +414,17 @@ 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):
     no_entries = Counter()
-    for m in self.service_msgs['onroadEvents']:
+    for m in self.msgs['onroadEvents']:
       for evt in m.onroadEvents:
         if evt.noEntry:
           no_entries[evt.name] += 1
 
-    eng = [m.selfdriveState.engageable for m in self.service_msgs['selfdriveState']]
+    offset = int(SERVICE_LIST['selfdriveState'].frequency * LOG_OFFSET)
+    eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
     assert all(eng), \
            f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"

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
@@ -92,7 +92,7 @@ if GetOption('extras') and arch != "Darwin":
     ("openpilot", release),
     ("openpilot_test", f"{release}-staging"),
     ("openpilot_nightly", "nightly"),
-    ("openpilot_internal", "master"),
+    ("openpilot_internal", "nightly-dev"),
   ]
 
   cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
@@ -110,3 +110,5 @@ if GetOption('extras') and arch != "Darwin":
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
+
+SConscript(['raylib/SConscript'])

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 +1,56 @@
+#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"
+#include "common/util.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
+  is_release = params.getBool("IsReleaseBranch");
+
+  // Toggles should be not available to change in onroad state
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
+}
+
+void DeveloperPanel::updateToggles(bool _offroad) {
+  for (auto btn : findChildren<ParamControl *>()) {
+    btn->setVisible(!is_release);
+    btn->setEnabled(_offroad);
+  }
+
+  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+  } else {
+    longManeuverToggle->setEnabled(false);
+  }
+
+  offroad = _offroad;
+}
+
+void DeveloperPanel::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}

selfdrive/ui/qt/offroad/developer_panel.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class DeveloperPanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit DeveloperPanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+  ParamControl* joystickToggle;
+  ParamControl* longManeuverToggle;
+  bool is_release;
+  bool offroad;
+
+private slots:
+  void updateToggles(bool _offroad);
+};

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/offroad/software_settings.cc

@@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
     auto current = params.get("GitBranch");
     QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
       auto i = branches.indexOf(b);
       if (i >= 0) {
         branches.removeAt(i);

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;