ui: dismiss screensaver on wake instead of on awake transition (#1907)

* fix wake-up behavior

* ui: dismiss screensaver on wake instead of on awake transition

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

.dockerignore

@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/

.gitattributes

@@ -10,5 +10,5 @@
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text

.github/labeler.yaml

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

.github/pull_request_template.md

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

.github/workflows/auto_pr_review.yaml

@@ -12,7 +12,7 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: false
 
@@ -24,7 +24,7 @@ jobs:
 
     # Check PR target branch
     - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
       if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

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

@@ -30,7 +30,7 @@ jobs:
         run: |
           cd sunnypilot
           export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 

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

@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -63,12 +63,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2025 World Models
+          - 2026 World Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'

.github/workflows/cereal_validation.yaml

@@ -6,7 +6,7 @@ on:
       - master
   pull_request:
     paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
   workflow_dispatch:
   workflow_call:
     inputs:
@@ -30,36 +30,68 @@ jobs:
       - name: Checkout sunnypilot cereal
         uses: actions/checkout@v6
         with:
-          sparse-checkout: cereal
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false
 
       - name: Init sunnypilot opendbc submodule
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Checkout upstream openpilot cereal
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
           path: upstream_openpilot
-          sparse-checkout: cereal
           ref: "refs/heads/master"
 
       - name: Init upstream opendbc submodule
         working-directory: upstream_openpilot
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Install uv
-        run: pip install uv
+      - name: Locate upstream capnp paths
+        id: locate-capnp
+        run: |
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"
 
       - name: Generate sunnypilot schema
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}
 
       - name: Validate against upstream
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}

.github/workflows/diff_report.yaml

@@ -17,29 +17,42 @@ jobs:
     - name: Wait for process replay
       id: wait
       continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: ${{ github.event.pull_request.head.sha }}
         check-name: process replay
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         allowed-conclusions: success,failure
         wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
     - name: Download diff
       if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
+      continue-on-error: true
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
       with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
         name: diff_report_${{ github.event.number }}
         path: .
-        allow_forks: true
     - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
+      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
       with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -15,6 +15,11 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   docs:
     name: build docs
@@ -22,7 +27,7 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
 
@@ -30,11 +35,10 @@ jobs:
     - name: Build docs
       run: |
         git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        python docs/serve.py --build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
@@ -45,14 +49,14 @@ jobs:
       run: |
         set -x
 
-        source release/identity.sh
+        source tools/release/identity.sh
 
         cd openpilot-docs
         git checkout --orphan tmp
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs_site/ docs/
+        cp -r ../docs/_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll

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

@@ -11,7 +11,7 @@ jobs:
       contents: write
     steps:
       - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
         with:
           script: |
             const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -86,7 +86,7 @@ jobs:
 
     - name: Delete trigger comment
       if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           await github.rest.issues.deleteComment({

.github/workflows/lfs-maintenance.yaml

@@ -65,8 +65,21 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Configure LFS transfer settings
+        run: |
+          git config lfs.activitytimeout 300
+          git config lfs.transfer.maxretries 5
+          git config lfs.concurrenttransfers 4
+
       - name: Push LFS
         id: sync-and-commit
         run: |
           git lfs ls-files -l
-          git lfs push --all origin
+          for attempt in 1 2 3; do
+            echo "Push attempt $attempt..."
+            git lfs push --all origin && exit 0
+            echo "Attempt $attempt failed, retrying in 30s..."
+            sleep 30
+          done
+          echo "All push attempts failed"
+          exit 1

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v6
-        with:
-          submodules: true
-      - name: Checkout master
-        uses: actions/checkout@v6
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/release.yaml

@@ -4,6 +4,11 @@ on:
     - cron: '0 9 * * *'
   workflow_dispatch:
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   build___nightly:
     name: build __nightly
@@ -15,17 +20,17 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
       with:
         submodules: true
         fetch-depth: 0
     - run: ./tools/op.sh setup
     - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -3,18 +3,25 @@ name: repo maintenance
 on:
   schedule:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
   workflow_dispatch:
 
 env:
   PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: >-
+      github.repository == 'sunnypilot/sunnypilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -50,10 +57,10 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
       with:
         author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
         token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -75,3 +82,51 @@ jobs:
           ${{ steps.pip_tree.outputs.PIP_TREE }}
           ```
         labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }

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

@@ -6,7 +6,7 @@ env:
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
   TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
 
 on:
   workflow_call:
@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - usbgpu
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -92,7 +105,7 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
 
   build_model:
     runs-on: [self-hosted, tici]
@@ -128,7 +141,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -148,6 +164,7 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
           rm -rf ${{ env.MODELS_DIR }}/*.onnx
 
@@ -155,21 +172,32 @@ jobs:
         uses: actions/download-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
+          path: ${{ env.MODELS_DIR }}
       - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
+            echo "USBGPU build"
+            export USBGPU=1
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
+            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
@@ -182,7 +210,13 @@ jobs:
           POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
           OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
           ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+          SUPERCOMBO_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
+          done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
           if [ -f "$VISION_ONNX" ]; then
@@ -203,24 +237,15 @@ jobs:
           fi
 
           if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
             env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
               --model-type $MODEL_TYPE \
               --model-size $MODEL_SIZE \
               --camera-resolutions $CAMERA_RES \
               $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+              --output "$OUTPUT_PKL"
           fi
 
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -264,4 +289,5 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

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

@@ -79,7 +79,7 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi
@@ -152,7 +152,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -172,20 +175,26 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
+          ln -sfn msgq_repo/msgq msgq
+          ln -sfn opendbc_repo/opendbc opendbc
+          ln -sfn rednose_repo/rednose rednose
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
           echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
           echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
           echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
@@ -208,17 +217,17 @@ jobs:
             --exclude='Jenkinsfile' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -237,6 +246,7 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
 
@@ -363,7 +373,7 @@ jobs:
               owner: context.repo.owner,
               repo: context.repo.repo,
               issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
             });
 
             console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/tests.yaml

@@ -20,7 +20,9 @@ concurrency:
 env:
   CI: 1
   PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   build_release:
@@ -35,27 +37,27 @@ jobs:
       STRIPPED_DIR: /tmp/releasepilot
       PYTHONPATH: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: git lfs pull
     - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      timeout-minutes: 3
+      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
     - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
       timeout-minutes: 30
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
+      run: python3 openpilot/system/manager/build.py
     - name: Run tests
       timeout-minutes: 1
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
+      run: tools/release/check-dirty.sh
     - name: Check submodules
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
@@ -75,15 +77,13 @@ jobs:
             export CHECK_PR_REFS=true
           fi
         fi
-        release/check-submodules.sh
+        tools/release/check-submodules.sh
 
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - name: Remove Homebrew from environment
       run: |
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -101,9 +101,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
@@ -118,23 +116,21 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
     - name: Build openpilot
       run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
+      env:
+        RAYLIB_BACKEND: headless
+      run: tools/op.sh test
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
@@ -142,68 +138,60 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
     - name: Print diff
       id: print-diff
       if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
     - name: Print diff report
       if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v7
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        path: openpilot/selfdrive/test/process_replay/diff.txt
     - name: Upload diff report
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
       if: always() && github.event_name == 'pull_request'
       continue-on-error: true
       with:
         name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v7
       with:
-        repository: commaai/ci-artifacts
+        repository: sunnypilot/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"
         git config user.email "<>"
         git fetch origin process-replay || true
         git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
     - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
 
   simulator_driving:
     name: simulator driving
@@ -215,17 +203,16 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     if: false  # FIXME: Started to timeout recently
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Driving test
       timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report
@@ -236,19 +223,21 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
+      - uses: actions/checkout@v7
       - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
       - name: Build openpilot
         run: scons
       - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
         run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
       - name: Upload UI Report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
+          path: openpilot/selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -8,9 +8,9 @@ on:
     branches:
       - 'master'
     paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
   workflow_dispatch:
 
 env:
@@ -34,12 +34,12 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: true
 
       - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
         with:
           ref: ${{ env.SHA }}
           check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +53,7 @@ jobs:
           echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@v6
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +62,7 @@ jobs:
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting mici master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +70,7 @@ jobs:
           ref: openpilot_master_ui_mici_raylib
 
       - name: Getting big master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +97,7 @@ jobs:
           done
 
       - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
 
       - name: Finding diffs
         if: github.event_name == 'pull_request_target'
@@ -115,13 +115,13 @@ jobs:
             cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
 
             diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
               "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
               "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
               "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
 
             REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
             if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +156,7 @@ jobs:
           for variant in $VARIANTS; do
             IFS=':' read -r name _ _ <<< "$variant"
             diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
             git add "${diff_name}_pr_${{ github.event.number }}.html"
           done
           git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
@@ -164,12 +164,12 @@ jobs:
 
       - name: Comment on PR
         if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
         with:
           message: |
             <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
             ## UI Preview
             ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/
 
+# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
@@ -32,6 +39,8 @@ bin/
 *.os-*
 *.so
 *.a
+st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
+*.unchunked
 *.clb
 *.class
 *.pyxbldc
@@ -44,18 +53,18 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
-docs_site/
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+docs/_site/
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml

.gitmodules

@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
@@ -17,5 +17,5 @@
   path = tinygrad_repo
   url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git

.vscode/launch.json

@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {

.vscode/settings.json

@@ -17,10 +17,5 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "tools/**",
   ]
 }

Dockerfile.openpilot

@@ -1,38 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY --chown=$USER . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'

Jenkinsfile

@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
@@ -30,14 +30,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*
@@ -63,6 +63,8 @@ if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
@@ -93,7 +95,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           retry (3) {
             def date = sh(script: 'date', returnStdout: true).trim();
             device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
             def name = item[0]
@@ -179,7 +181,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
       ])
     }
 
@@ -187,12 +189,12 @@ node {
       parallel (
         'nightly': {
           deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
           deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
       )
@@ -202,51 +204,51 @@ node {
     parallel (
       'onroad tests': {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("check dirty", "tools/release/check-dirty.sh"),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
         ])
       },
 

RELEASES.md

@@ -1,6 +1,14 @@
-Version 0.11.2 (2026-06-15)
-========================
-
+Version 0.11.2 (2026-08-12)
+=======================
+* New driving model
+  * Big model with 880M parameters
+* Support for big models running on an external GPU
+* Live stream cameras from comma connect
+* Generate dashcam clips from comma connect
+* Remote comma body control from comma connect
+* New alert sounds
+* CUPRA Born 2021-2023 support thanks to DaHansi!
+* Volkswagen ID.4 2021-2025 support thanks to DaHansi!
 
 Version 0.11.1 (2026-05-18)
 ========================
@@ -1104,7 +1112,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -10,7 +10,7 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
-TICI = os.path.isfile('/TICI')
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
 
 SCons.Warnings.warningAsException(True)
 
@@ -24,25 +24,55 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
 acados_include_dirs = [
   acados.INCLUDE_DIR,
   os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
@@ -91,7 +121,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
     "ACADOS_SOURCE_DIR": acados.DIR,
     "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
     "TERA_PATH": acados.TERA_PATH
@@ -99,10 +129,11 @@ env = Environment(
   CCFLAGS=[
     "-g",
     "-fPIC",
+    "-pipe",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -112,36 +143,46 @@ env = Environment(
   CFLAGS=["-std=gnu11"],
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
-    "#",
-    "#msgq",
+    "#openpilot",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
+    "#",
   ],
   LIBPATH=[
-    "#common",
+    "#openpilot/common",
     "#msgq_repo",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
+    "#openpilot/selfdrive/pandad",
+    "#rednose_repo/rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
+if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
+if arch == "comma_arm64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -190,10 +231,10 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
@@ -211,7 +252,7 @@ def prune_cache_dir(target=None, source=None, env=None):
 # ********** start building stuff **********
 
 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -222,7 +263,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -233,34 +274,33 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+if arch == "comma_arm64":
+  SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
 SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
 ])
 
-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])
 
 # Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+if GetOption('extras') and arch != "comma_arm64":
   SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
   ])
 
 
@@ -276,6 +316,8 @@ def count_scons_nodes(nodes):
     if node in seen:
       continue
     seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
     executor = node.get_executor()
     if executor is not None:
       stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -284,6 +326,7 @@ def count_scons_nodes(nodes):
 
 progress_interval = 5
 progress_count = 0
+build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
 
 def progress_function(node):
@@ -299,3 +342,11 @@ def progress_function(node):
 
 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))

cereal/SConscript

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

cereal/__init__.py

@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

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

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,256 +0,0 @@
-#!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
-"""
-
-from __future__ import annotations
-
-import argparse
-import json
-import os
-import sys
-from typing import Any
-
-NO_DISCRIMINANT = 0xFFFF
-
-
-def hex_id(value: int) -> str:
-  return f"0x{value:016x}"
-
-
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
-def encode_struct(schema: Any) -> dict:
-  node = schema.node
-  return {
-    "typeId": hex_id(node.id),
-    "displayName": node.displayName,
-    "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
-  }
-
-
-def _child_struct_schema(field: Any) -> Any:
-  proto = field.proto
-  if proto.which() == "group":
-    return field.schema
-  type_node = proto.slot.type
-  which = type_node.which()
-  if which == "struct":
-    return field.schema
-  if which == "list":
-    container = field.schema
-    element_type = type_node.list.elementType
-    while element_type.which() == "list":
-      container = container.elementType
-      element_type = element_type.list.elementType
-    if element_type.which() == "struct":
-      return container.elementType
-  return None
-
-
-def collect_schema(root: Any) -> dict[str, dict]:
-  structs: dict[str, dict] = {}
-  stack = [root]
-  while stack:
-    schema = stack.pop()
-    type_id = hex_id(schema.node.id)
-    if type_id in structs:
-      continue
-    structs[type_id] = encode_struct(schema)
-    for _name, field in schema.fields.items():
-      try:
-        child = _child_struct_schema(field)
-      except Exception:
-        child = None
-      if child is not None:
-        stack.append(child)
-  return structs
-
-
-def load_log(cereal_dir: str) -> Any:
-  import capnp
-  cereal_dir = os.path.abspath(cereal_dir)
-  capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
-
-
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
-  payload = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  with open(path, "w", encoding="utf-8") as handle:
-    json.dump(payload, handle, indent=2, sort_keys=True)
-  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
-
-
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
-def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
-  violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
-
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
-      continue
-
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
-        violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
-        )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
-
-  return violations
-
-
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
-  peer_dump = load_peer(peer_path)
-  local_dump = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
-
-  if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
-    return 0
-
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
-  for v in violations:
-    print(f"  {v}")
-  return 1
-
-
-def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
-  mode = parser.add_mutually_exclusive_group(required=True)
-  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
-  args = parser.parse_args()
-
-  if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
-
-
-if __name__ == "__main__":
-  sys.exit(main())

common/SConscript

@@ -1,23 +0,0 @@
-Import('env', 'envCython')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-common_python = [params_python]
-
-Export('common_python')

common/mock/generators.py

@@ -1,14 +0,0 @@
-from cereal import messaging
-
-
-def generate_livePose():
-  msg = messaging.new_message('livePose')
-  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-  msg.livePose.orientationNED = meas
-  msg.livePose.velocityDevice = meas
-  msg.livePose.angularVelocityDevice = meas
-  msg.livePose.accelerationDevice = meas
-  msg.livePose.inputsOK = True
-  msg.livePose.posenetOK = True
-  msg.livePose.sensorsOK = True
-  return msg

common/parameterized.py

@@ -1,54 +0,0 @@
-import re
-import sys
-import pytest
-import inspect
-
-
-def _to_safe_name(s):
-  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
-
-
-class parameterized:
-  @staticmethod
-  def expand(cases):
-    cases = list(cases)
-
-    if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
-
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
-
-    return decorator
-
-
-def parameterized_class(attrs, input_list=None):
-  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
-    params_list = attrs
-  else:
-    assert input_list is not None
-    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
-    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
-
-  def decorator(cls):
-    globs = sys._getframe(1).f_globals
-    for i, params in enumerate(params_list):
-      # append sanitized string param values so pytest -k can filter by them
-      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
-      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
-      new_cls = type(name, (cls,), dict(params))
-      new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
-      globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
-    return cls
-
-  return decorator

common/params.py

@@ -1,19 +0,0 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert Params
-assert ParamKeyFlag
-assert ParamKeyType
-assert UnknownKeyName
-
-if __name__ == "__main__":
-  import sys
-
-  params = Params()
-  key = sys.argv[1]
-  assert params.check_key(key), f"unknown param: {key}"
-
-  if len(sys.argv) == 3:
-    val = sys.argv[2]
-    print(f"SET: {key} = {val}")
-    params.put(key, val, block=True)
-  elif len(sys.argv) == 2:
-    print(f"GET: {key} = {params.get(key)}")

common/params_pyx.pyx

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

common/tests/.gitignore

@@ -1 +0,0 @@
-test_common

common/tests/test_params.cc

@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}

common/tests/test_runner.cc

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

common/tests/test_swaglog.cc

@@ -1,90 +0,0 @@
-#include <zmq.h>
-
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-#include "json11/json11.hpp"
-
-#include "sunnypilot/common/version.h"
-
-std::string daemon_name = "testy";
-std::string dongle_id = "test_dongle_id";
-int LINE_NO = 0;
-
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
-}
-
-void recv_log(int thread_cnt, int thread_msg_cnt) {
-  void *zctx = zmq_ctx_new();
-  void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
-  std::vector<int> thread_msgs(thread_cnt);
-  int total_count = 0;
-
-  for (auto start = std::chrono::steady_clock::now(), now = start;
-       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
-       now = std::chrono::steady_clock::now()) {
-    char buf[4096] = {};
-    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
-      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
-      break;
-    }
-
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
-    std::string err;
-    auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
-
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
-
-    auto ctx = msg["ctx"];
-
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
-
-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
-
-    std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
-
-    int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
-    thread_msgs[thread_id]++;
-    total_count++;
-  }
-  for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
-  }
-  zmq_close(sock);
-  zmq_ctx_destroy(zctx);
-}
-
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
-}

common/tests/test_util.cc

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

conftest.py

@@ -1,93 +0,0 @@
-import contextlib
-import gc
-import os
-import pytest
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
-
-# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
-collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
-  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
-  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "sunnypilot/modeld_v2/tests/test_warp.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-]
-
-
-@pytest.hookimpl(hookwrapper=True, trylast=True)
-def pytest_runtest_call(item):
-  # ensure we run as a hook after capturemanager's
-  if item.get_closest_marker("nocapture") is not None:
-    capmanager = item.config.pluginmanager.getplugin("capturemanager")
-    with capmanager.global_and_fixture_disabled():
-      yield
-  else:
-    yield
-
-
-@contextlib.contextmanager
-def clean_env():
-  starting_env = dict(os.environ)
-  yield
-  os.environ.clear()
-  os.environ.update(starting_env)
-
-
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
-  with clean_env():
-    # setup a clean environment for each test
-    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-      prefix = os.environ["OPENPILOT_PREFIX"]
-
-      yield
-
-      # ensure the test doesn't change the prefix
-      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
-
-    # cleanup any started processes
-    manager.manager_cleanup()
-
-    # some processes disable gc for performance, re-enable here
-    if not gc.isenabled():
-      gc.enable()
-      gc.collect()
-
-# If you use setUpClass, the environment variables won't be cleared properly,
-# so we need to hook both the function and class pytest fixtures
-@pytest.fixture(scope="class", autouse=True)
-def openpilot_class_fixture():
-  with clean_env():
-    yield
-
-
-@pytest.fixture(scope="function")
-def tici_setup_fixture(request, openpilot_function_fixture):
-  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
-  if 'skip_tici_setup' in request.keywords:
-    return
-  HARDWARE.initialize_hardware()
-  HARDWARE.set_power_save(False)
-  os.system("pkill -9 -f athena")
-
-
-@pytest.hookimpl(tryfirst=True)
-def pytest_collection_modifyitems(config, items):
-  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
-  for item in items:
-    if "tici" in item.keywords:
-      if not TICI:
-        item.add_marker(skipper)
-      else:
-        item.fixturenames.append('tici_setup_fixture')
-
-    if "xdist_group_class_property" in item.keywords:
-      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
-      class_property_value = getattr(item.cls, class_property_name)
-      item.add_marker(pytest.mark.xdist_group(class_property_value))

docs/AI_POLICY.md

@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.

docs/CARS.md

@@ -1,10 +1,10 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 341 Supported Cars
+# 342 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -230,14 +230,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||

docs/CONTRIBUTING.md

@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -35,6 +37,7 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 
@@ -58,7 +61,7 @@ A good pull request has all of the following:
 
 * Report bugs in GitHub issues.
 * Report driving issues in the `#driving-feedback` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Consider opting into cabin camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
@@ -68,6 +71,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/DEVELOPMENT.md

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

docs/LIMITATIONS.md

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

docs/README.md

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

docs/SAFETY.md

@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http
 
 ### Forks of openpilot
 
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
    * your fork cannot use the openpilot trademark
    * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes

docs/assets/comma-logo.png

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

docs/assets/favicon.svg

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

docs/concepts/glossary.md

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

docs/concepts/logs.md

@@ -2,25 +2,25 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
 ## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
-## {f,e,d}camera.hevc
+## camera video files
 
 Each camera stream is H.265 encoded and written to its respective file.
 
-* `fcamera.hevc` is the road camera
+* `fcamera.hevc` is the narrow road camera (the main forward camera)
 * `ecamera.hevc` is the wide road camera
-* `dcamera.hevc` is the driver camera
+* `dcamera.hevc` is the cabin camera
 
 ## qlog.zst & qcamera.ts
 
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 

docs/contributing/feedback.md

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

docs/ext/glossary.py

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

docs/ext/glossary.toml

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

docs/how-to/car-port.md

@@ -30,7 +30,7 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 
 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
 
-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
 
 # How do I port car?
 

docs/how-to/replay-a-drive.md

@@ -5,7 +5,7 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*
 
-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.
 
 ## Replaying CAN data
 *Hardware required: jungle and comma four*

docs/how-to/turn-the-speed-blue.md

@@ -28,10 +28,10 @@ scons
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 
 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.
 
 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is
 
 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 

docs/serve.py

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

docs/stylesheets/extra.css

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

docs/template.html

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

launch_chffrplus.sh

@@ -19,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -70,6 +70,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
@@ -79,7 +87,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd system/manager
+  cd openpilot/system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.4"
+  export AGNOS_VERSION="19.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

msgq

@@ -1 +0,0 @@
-msgq_repo/msgq

opendbc

@@ -1 +0,0 @@
-opendbc_repo/opendbc

openpilot/cereal/README.md

@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks
 
 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline openpilot's cereal spec. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
 An example of compatible changes:
 ```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
+--- a/openpilot/cereal/custom.capnp
++++ b/openpilot/cereal/custom.capnp
 @@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
  # DO rename the structs
  # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
  }
 
  struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
+diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
+--- a/openpilot/cereal/log.capnp
++++ b/openpilot/cereal/log.capnp
 @@ -2558,14 +2558,14 @@ struct Event {
 
      # DO change the name of the field
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])

openpilot/cereal/SConscript

@@ -0,0 +1,22 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
+
+# Build messaging
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')

openpilot/cereal/__init__.py

@@ -0,0 +1,11 @@
+import os
+import capnp
+from importlib.resources import as_file, files
+
+capnp.remove_import_hook()
+
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+  CEREAL_PATH = fspath.as_posix()
+  opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])

openpilot/cereal/custom.capnp

@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0xb526ba661d550a59;
@@ -69,6 +69,8 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+  buttonsPressed @2 :UInt16;
+  buttonsReleaseToggle @3 :UInt16;
 
   enum AudibleAlert {
     none @0;
@@ -137,10 +139,16 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Chunk {
+    fileName @0 :Text;
+    sha256 @1 :Text;
+  }
+
   struct Artifact {
     fileName @0 :Text;
     downloadUri @1 :DownloadUri;
     downloadProgress @2 :DownloadProgress;
+    chunks @3 :List(Chunk);
   }
 
   struct Model {
@@ -155,6 +163,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       policy @3;
       offPolicy @4;
       onPolicy @5;
+      chunked @6;
     }
   }
 
@@ -342,6 +351,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -448,6 +458,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

openpilot/cereal/deprecated.capnp

@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
@@ -760,18 +760,6 @@ struct LateralLQRState @0x9024e2d790c82ade {
   steeringAngleDesiredDeg @6 :Float32;
 }
 
-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
 struct LateralPlannerSolution @0x84caeca5a6b4acfe {
   x @0 :List(Float32);
   y @1 :List(Float32);
@@ -787,3 +775,13 @@ struct GpsTrajectory @0x8cfeb072f5301000 {
   x @0 :List(Float32);
   y @1 :List(Float32);
 }
+
+struct AudioFeedbackDEPRECATED @0xed47e3c075be372a {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+
+  struct AudioData {
+    data @0 :Data;
+    sampleRate @1 :UInt32;
+  }
+}

openpilot/cereal/log.capnp

@@ -1,7 +1,7 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
+using Car = import "/car.capnp";
 using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 
@@ -75,7 +75,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     driverUnresponsive2 @37;
     driverUnresponsive3 @38;
     belowSteerSpeed @39;
-    lowBattery @40;
     accFaulted @41;
     sensorDataInvalid @42;
     commIssue @43;
@@ -107,18 +106,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     noGps @68;
     wrongCruiseMode @69;
     modeldLagging @70;
-    deviceFalling @71;
     fanMalfunction @72;
     cameraMalfunction @73;
     cameraFrameRate @74;
     processNotRunning @75;
     dashcamMode @76;
     selfdriveInitializing @77;
-    usbError @78;
     cruiseMismatch @79;
     canBusMissing @80;
     selfdrivedLagging @81;
     resumeBlocked @82;
+    carNotReady @103;
     steerTimeLimit @83;
     vehicleSensorsInvalid @84;
     locationdTemporaryError @85;
@@ -131,9 +129,15 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     aeb @92;
     userBookmark @95;
     excessiveActuation @96;
-    audioFeedback @97;
+    bigModelLoading @100;
+    bigModelFailed @102;
 
+    lowBatteryDEPRECATED @40;
     soundsUnavailableDEPRECATED @47;
+    deviceFallingDEPRECATED @71;
+    usbErrorDEPRECATED @78;
+    audioFeedbackDEPRECATED @97;
+    bigModelReadyDEPRECATED @101;
   }
 }
 
@@ -176,13 +180,13 @@ struct InitData {
 
   enum DeviceType {
     unknown @0;
-    neo @1;
+    neo @1;   # NEO, EON, & comma two
     chffrAndroid @2;
     chffrIos @3;
-    tici @4;
+    tici @4;  # comma three
     pc @5;
-    tizi @6;
-    mici @7;
+    tizi @6;  # comma 3X
+    mici @7;  # comma four
   }
 
   struct PandaInfo {
@@ -414,6 +418,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
   deviceType @45 :InitData.DeviceType;
 
+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -684,33 +692,67 @@ struct PeripheralState {
   }
 }
 
+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
+  }
+}
+
+struct ChestnutState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+}
+
 struct RadarState @0x9a185389d6fdd05f {
-  mdMonoTime @6 :UInt64;
-  carStateMonoTime @11 :UInt64;
+  mdMonoTime @6 :UInt64;  # for debugging
   radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
 
   struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
+    dRel @0 :Float32;  # m from the front bumper of the car
+    yRel @1 :Float32;  # m in car frame, left positive
+    vRel @2 :Float32;  # m/s relative longitudinal speed
+    vLead @4 :Float32;  # m/s absolute lead speed
+    vLeadK @8 :Float32;  # kalman-filtered lead speed
+    aLeadK @9 :Float32;  # kalman-filtered lead accel
+    present @11 :Bool;  # true if a lead is present
+    aLeadTau @12 :Float32;  # lead accel time constant
+    modelProb @13 :Float32;  # vision model lead probability
+    radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
+    radarTrackId @15 :Int32 = -1;  # for debugging
 
     deprecated :group {
+      aRel @3 :Float32;
       aLead @5 :Float32;
+      dPath @6 :Float32;
+      vLat @7 :Float32;
+      fcw @10 :Bool;
     }
   }
 
@@ -723,11 +765,12 @@ struct RadarState @0x9a185389d6fdd05f {
     calPerc @9 :Int8;
     canMonoTimes @10 :List(UInt64);
     cumLagMs @5 :Float32;
+    carStateMonoTime @11 :UInt64;
     radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
   }
 }
 
-struct LiveCalibrationData {
+struct ExtrinsicsCalibration @0x96df70754d8390bc {
   calStatus @11 :Status;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -771,13 +814,31 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    preAlert @9;
+    complete @10;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -798,6 +859,10 @@ struct SelfdriveState {
     mid @2;
     full @3;
   }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
@@ -818,7 +883,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
-    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    curvatureState @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
     indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
   }
@@ -867,6 +932,18 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @3 :Bool;
   }
 
+  struct LateralCurvatureState @0xad9d8095c06f7c61 {
+    active @0 :Bool;
+    actualCurvature @1 :Float32;
+    desiredCurvature @2 :Float32;
+    error @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+  }
+
   deprecated :group {
     vEgo @0 :Float32;
     vEgoRaw @32 :Float32;
@@ -906,7 +983,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     alertStatus @38 :SelfdriveState.AlertStatus;
     alertSize @39 :SelfdriveState.AlertSize;
     alertType @44 :Text;
-    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
     engageable @41 :Bool;  # can OP be engaged?
     state @31 :SelfdriveState.OpenpilotState;
     enabled @19 :Bool;
@@ -973,6 +1050,7 @@ struct ModelDataV2 {
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
   rawPredictions @16 :Data;
+  big @27 :Bool;
 
   # predicted future position, orientation, etc..
   position @4 :XYZTData;
@@ -989,7 +1067,6 @@ struct ModelDataV2 {
   roadEdgeStds @14 :List(Float32);
 
   # predicted lead cars
-  leads @11 :List(LeadDataV2);
   leadsV3 @18 :List(LeadDataV3);
 
   meta @12 :MetaData;
@@ -999,8 +1076,9 @@ struct ModelDataV2 {
   action @26: Action;
 
   lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
+  leadsDEPRECATED @11 :List(LeadDataV2DEPRECATED);
 
-  struct LeadDataV2 {
+  struct LeadDataV2DEPRECATED {
     prob @0 :Float32; # probability that car is your lead at time t
     t @1 :Float32;
 
@@ -1120,7 +1198,7 @@ struct EncodeIndex {
   }
 }
 
-struct AndroidLogEntry {
+struct OperatingSystemLogEntry {
   id @0 :UInt8;
   ts @1 :UInt64;
   priority @2 :UInt8;
@@ -1258,7 +1336,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
 struct LiveLocationKalman {
 
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
 
   positionECEF @0 : Measurement;
   positionGeodetic @1 : Measurement;
@@ -1313,9 +1391,9 @@ struct LiveLocationKalman {
 }
 
 
-struct LivePose {
+struct DeviceMotion @0xc24ca2b57206b44d {
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
   orientationNED @0 :XYZMeasurement;
   velocityDevice @1 :XYZMeasurement;
   accelerationDevice @2 :XYZMeasurement;
@@ -2108,8 +2186,11 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  alertCountLockoutPercent @1 :Int8;
-  alertTimeLockoutPercent @2 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
 
   alwaysOn @3 :Bool;
   alwaysOnLockout @4 :Bool;
@@ -2173,6 +2254,11 @@ struct DriverMonitoringState {
     calibratedPercent @0 :Int8;
     offset @1 :Float32;
   }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
 }
 
 struct Boot {
@@ -2187,7 +2273,7 @@ struct Boot {
   }
 }
 
-struct LiveParametersData {
+struct VehicleParameters @0xd9058dcb967c2753 {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffsetDeg @2 :Float32;
@@ -2221,8 +2307,8 @@ struct LiveParametersData {
   }
 }
 
-struct LiveTorqueParametersData {
-  liveValid @0 :Bool;
+struct LateralTorqueParameters @0xe61690eb0b091692 {
+  valid @0 :Bool;
   latAccelFactorRaw @1 :Float32;
   latAccelOffsetRaw @2 :Float32;
   frictionCoefficientRaw @3 :Float32;
@@ -2238,7 +2324,7 @@ struct LiveTorqueParametersData {
   calPerc @13 :Int8;
 }
 
-struct LiveDelayData {
+struct LateralDelay @0x98dfdb22c44df8d4 {
   lateralDelay @0 :Float32;
   validBlocks @1 :Int32;
   status @2 :Status;
@@ -2247,6 +2333,7 @@ struct LiveDelayData {
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
   calPerc @6 :Int8;
+  version @7 :Int32;
 
   enum Status {
     unestimated @0;
@@ -2423,11 +2510,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2460,9 +2542,9 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @131 :Car.RadarData;
+    radarTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
-    liveCalibration @19 :LiveCalibrationData;
+    extrinsicsCalibration @19 :ExtrinsicsCalibration;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
@@ -2473,42 +2555,43 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    liveParameters @61 :LiveParametersData;
-    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
+    vehicleParameters @61 :VehicleParameters;
+    lateralTorqueParameters @94 :LateralTorqueParameters;
+    lateralDelay @146 : LateralDelay;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @151 :DriverMonitoringState;
-    livePose @129 :LivePose;
+    deviceMotion @129 :DeviceMotion;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
-    roadCameraState @2 :FrameData;
-    driverCameraState @70: FrameData;
+    narrowRoadCameraState @2 :FrameData;
+    cabinCameraState @70: FrameData;
     wideRoadCameraState @74: FrameData;
-    roadEncodeIdx @15 :EncodeIndex;
-    driverEncodeIdx @76 :EncodeIndex;
+    narrowRoadEncodeIdx @15 :EncodeIndex;
+    cabinEncodeIdx @76 :EncodeIndex;
     wideRoadEncodeIdx @77 :EncodeIndex;
-    qRoadEncodeIdx @90 :EncodeIndex;
+    qNarrowRoadEncodeIdx @90 :EncodeIndex;
 
-    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamNarrowRoadEncodeIdx @117 :EncodeIndex;
     livestreamWideRoadEncodeIdx @118 :EncodeIndex;
-    livestreamDriverEncodeIdx @119 :EncodeIndex;
+    livestreamCabinEncodeIdx @119 :EncodeIndex;
 
     # microphone data
     soundPressure @103 :SoundPressure;
     rawAudioData @147 :AudioData;
 
     # systems stuff
-    androidLog @20 :AndroidLogEntry;
+    operatingSystemLog @20 :OperatingSystemLogEntry;
     managerState @78 :ManagerState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
+    chestnutState @152 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
@@ -2521,21 +2604,20 @@ struct Event {
     # driving feedback
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
-    roadEncodeData @86 :EncodeData;
-    driverEncodeData @87 :EncodeData;
+    narrowRoadEncodeData @86 :EncodeData;
+    cabinEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
-    qRoadEncodeData @89 :EncodeData;
+    qNarrowRoadEncodeData @89 :EncodeData;
     alertDebug @133 :DebugAlert;
 
-    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamNarrowRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
-    livestreamDriverEncodeData @122 :EncodeData;
+    livestreamCabinEncodeData @122 :EncodeData;
 
     # *********** Custom: reserved for forks ***********
 
@@ -2571,6 +2653,7 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    audioFeedbackDEPRECATED @149 :Deprecated.AudioFeedbackDEPRECATED;
     liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
     liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;

openpilot/cereal/messaging/__init__.py

@@ -7,12 +7,43 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Union
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
+__all__ = (
+  "NO_TRAVERSAL_LIMIT",
+  "Context",
+  "FrequencyTracker",
+  "IpcError",
+  "MultiplePublishersError",
+  "Poller",
+  "PubMaster",
+  "PubSocket",
+  "SocketEventHandle",
+  "SubMaster",
+  "SubSocket",
+  "delete_fake_prefix",
+  "drain_sock",
+  "drain_sock_raw",
+  "fake_event_handle",
+  "get_fake_prefix",
+  "log_from_bytes",
+  "new_message",
+  "pub_sock",
+  "recv_one",
+  "recv_one_or_none",
+  "recv_one_retry",
+  "recv_sock",
+  "reset_context",
+  "set_fake_prefix",
+  "sub_sock",
+  "toggle_fake_events",
+  "wait_for_one_event",
+)
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
   return msgq.pub_sock(endpoint, segment_size)
 
 
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: int | None = None) -> SubSocket:
   service = SERVICE_LIST.get(endpoint)
   segment_size = service.queue_size if service else 0
   return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
     return msg
 
 
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
     'logMonoTime': int(time.monotonic() * 1e9),
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
   return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
   return dat
 
 
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
 
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -148,27 +179,27 @@ class FrequencyTracker:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+  def __init__(self, services: list[str], poll: str | None = None,
+               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
+               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
     self.frame = -1
     self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.seen = dict.fromkeys(services, False)
+    self.updated = dict.fromkeys(services, False)
+    self.recv_time = dict.fromkeys(services, 0.0)
+    self.recv_frame = dict.fromkeys(services, 0)
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.logMonoTime = dict.fromkeys(services, 0)
 
     # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
     on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.static_freq_services = {s for s in services if not on_demand[s]}
     self.alive = {s: on_demand[s] for s in services}
     self.freq_ok = {s: on_demand[s] for s in services}
     self.valid = {s: on_demand[s] for s in services}
 
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.freq_tracker: dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -211,7 +242,7 @@ class SubMaster:
       msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
@@ -234,21 +265,21 @@ class SubMaster:
       self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
       self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_alive(self, service_list: list[str] | None = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
     return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_valid(self, service_list: list[str] | None = None) -> bool:
     return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_checks(self, service_list: list[str] | None = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:
-  def __init__(self, services: List[str]):
+  def __init__(self, services: list[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)

openpilot/cereal/messaging/bridge.cc

@@ -1,7 +1,7 @@
 #include <cassert>
 
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 ExitHandler do_exit;

openpilot/cereal/messaging/bridge_zmq.cc

@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 #include <cassert>
 #include <cstring>

openpilot/cereal/messaging/messaging.h

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

openpilot/cereal/messaging/msgq_to_zmq.cc

@@ -1,8 +1,8 @@
-#include "cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
 
 #include <cassert>
 
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;

openpilot/cereal/messaging/msgq_to_zmq.h

@@ -8,7 +8,7 @@
 #include <vector>
 
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:

openpilot/cereal/messaging/socketmaster.cc

@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>
 
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 

openpilot/cereal/messaging/tests/test_messaging.py

@@ -1,16 +1,16 @@
-import os
 import capnp
 import multiprocessing
 import numbers
 import random
 import threading
 import time
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
-import pytest
 
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
 
@@ -23,10 +23,6 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
   return bytes([random.randrange(0xFF) for _ in range(length)])
 
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -51,17 +47,7 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
+class TestMessaging(OpenpilotTestCase):
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -88,7 +74,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
@@ -96,10 +81,11 @@ class TestMessaging:
     assert len(msgs) == 0
 
     # no wait but msgs are queued up
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    assert sub_sock.receive() is not None  # synchronize the PUB/SUB connection
     num_msgs = random.randrange(3, 10)
     for _ in range(num_msgs):
       pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
     msgs = func(sub_sock)
     assert isinstance(msgs, list)
     assert all(isinstance(msg, expected_type) for msg in msgs)
@@ -109,7 +95,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
@@ -127,8 +112,7 @@ class TestMessaging:
   def test_recv_one(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
+    sub_sock = messaging.sub_sock(sock, timeout=10)
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -141,12 +125,10 @@ class TestMessaging:
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
@@ -161,19 +143,16 @@ class TestMessaging:
 
   def test_recv_one_retry(self):
     sock = "carState"
-    sock_timeout = 0.1
+    sock_timeout = 0.005
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
 
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # 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*5)
-      assert p.is_alive()
-      p.terminate()
+    # 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*5)
+    assert p.is_alive()
+    p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -1,20 +1,16 @@
 import random
 import time
-from typing import Sized, cast
+from typing import cast
+from collections.abc import Sized
 
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
-from cereal.services import SERVICE_LIST
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+                                                  random_bytes, random_carstate, assert_carstate
+from openpilot.cereal.services import SERVICE_LIST
 
 
-class TestSubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
+class TestSubMaster(OpenpilotTestCase):
 
   def test_init(self):
     sm = messaging.SubMaster(events)
@@ -42,7 +38,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
@@ -54,7 +49,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     for i in range(10):
       msg = messaging.new_message(sock)
@@ -66,17 +60,17 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
+    timeout = random.randrange(10, 30)
     start_time = time.monotonic()
     sm.update(timeout)
     t = time.monotonic() - start_time
     assert t >= timeout/1000.
-    assert t < 3
+    assert t < 0.1
     assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
+      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "extrinsicsCalibration"],
                                poll=("modelV2" if poll else None),
                                frequency=(20. if not poll else None))
 
@@ -84,50 +78,39 @@ class TestSubMaster:
         "carState": (20, 20),
         "modelV2": (20, 20 if poll else 10),
         "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
+        "extrinsicsCalibration": (4, 4),
         "carParams": (None, None),
         "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
+          assert min_freq is not None
           assert sm._check_avg_freq(service)
           assert sm.freq_tracker[service].max_freq == max_freq*1.2
           assert sm.freq_tracker[service].min_freq == min_freq*0.8
         else:
           assert not sm._check_avg_freq(service)
 
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
   # SubMaster should always conflate
   def test_conflate(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
 
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    sm.update(1000)  # synchronize the PUB/SUB connection
+
     n = 10
     for i in range(n+1):
       msg = messaging.new_message(sock)
       msg.carState.vEgo = i
       pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
     sm.update(1000)
     assert sm[sock].vEgo == n
 
 
-class TestPubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
+class TestPubMaster(OpenpilotTestCase):
 
   def test_init(self):
     messaging.PubMaster(events)
@@ -136,7 +119,6 @@ class TestPubMaster:
     socks = random_socks()
     pm = messaging.PubMaster(socks)
     sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
 
     # PubMaster accepts either a capnp msg builder or bytes
     for capnp in [True, False]:

openpilot/cereal/messaging/tests/test_services.py

@@ -1,13 +1,14 @@
-import os
+import subprocess
 import tempfile
-from typing import Dict
+
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
 
-import cereal.services as services
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.services as services
+from openpilot.cereal.services import SERVICE_LIST
 
 
-class TestServices:
+class TestServices(OpenpilotTestCase):
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
@@ -17,5 +18,5 @@ class TestServices:
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
       assert ret == 0, "generated services header is not valid C"

openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+"""Validate sunnypilot routes are parseable by stock commaai/openpilot.
+
+Cap'n Proto is wire-compatible across renames, type relocations, and
+additive fields. The only breaking change is a union variant that
+upstream doesn't recognize — an unknown discriminant makes the entire
+union unreadable.
+
+This script checks: for every struct with a union that exists in both
+schemas, does sunnypilot introduce union variants upstream doesn't have?
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+from typing import Any
+
+NO_DISCRIMINANT = 0xFFFF
+
+
+def hex_id(value: int) -> str:
+  return f"0x{value:016x}"
+
+
+def encode_struct(schema: Any) -> dict:
+  node = schema.node
+  fields = []
+  for name, field in schema.fields.items():
+    proto = field.proto
+    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
+  return {
+    "typeId": hex_id(node.id),
+    "displayName": node.displayName,
+    "hasUnion": node.struct.discriminantCount > 0,
+    "fields": fields,
+  }
+
+
+def _child_struct_schema(field: Any) -> Any:
+  proto = field.proto
+  if proto.which() == "group":
+    return field.schema
+  type_node = proto.slot.type
+  which = type_node.which()
+  if which == "struct":
+    return field.schema
+  if which == "list":
+    container = field.schema
+    element_type = type_node.list.elementType
+    while element_type.which() == "list":
+      container = container.elementType
+      element_type = element_type.list.elementType
+    if element_type.which() == "struct":
+      return container.elementType
+  return None
+
+
+def collect_schema(root: Any) -> dict[str, dict]:
+  structs: dict[str, dict] = {}
+  stack = [root]
+  while stack:
+    schema = stack.pop()
+    type_id = hex_id(schema.node.id)
+    if type_id in structs:
+      continue
+    structs[type_id] = encode_struct(schema)
+    for _name, field in schema.fields.items():
+      try:
+        child = _child_struct_schema(field)
+      except Exception:
+        child = None
+      if child is not None:
+        stack.append(child)
+  return structs
+
+
+def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
+
+
+def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
+  log = load_log(cereal_dir, extra_imports)
+  payload = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  with open(path, "w", encoding="utf-8") as handle:
+    json.dump(payload, handle, indent=2, sort_keys=True)
+  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
+
+
+def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
+  violations: list[str] = []
+  sunnypilot_structs = sunnypilot_dump["structs"]
+  upstream_structs = upstream_dump["structs"]
+
+  for type_id, sp_struct in sunnypilot_structs.items():
+    if not sp_struct["hasUnion"]:
+      continue
+    up_struct = upstream_structs.get(type_id)
+    if up_struct is None:
+      continue
+
+    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
+    display = sp_struct["displayName"]
+
+    for field in sp_struct["fields"]:
+      if field.get("discriminant") is None:
+        continue
+      if field["ordinal"] not in up_ordinals:
+        violations.append(
+          f"{display} @{field['ordinal']} '{field['name']}': "
+          f"union variant not present upstream (discriminant={field['discriminant']})"
+        )
+
+  return violations
+
+
+def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
+  log = load_log(cereal_dir, extra_imports)
+  with open(peer_path, "r", encoding="utf-8") as f:
+    peer_dump = json.load(f)
+  local_dump = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
+
+  if not violations:
+    print("cereal compat OK: upstream can parse sunnypilot routes.")
+    return 0
+
+  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
+  for v in violations:
+    print(f"  {v}")
+  return 1
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
+  mode = parser.add_mutually_exclusive_group(required=True)
+  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
+  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
+  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
+  args = parser.parse_args()
+
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file, args.import_path)
+    return 0
+  return run_read(args.cereal_dir, args.file, args.import_path)
+
+
+if __name__ == "__main__":
+  sys.exit(main())

openpilot/cereal/services.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import IntEnum
-from typing import Optional
 
 
 # TODO: this should be automatically determined using the capnp schema
@@ -11,7 +10,7 @@ class QueueSize(IntEnum):
 
 
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
                queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
@@ -26,6 +25,7 @@ _services: dict[str, tuple] = {
   "accelerometer": (True, 104., 104),
   "temperatureSensor": (True, 2., 200),
   "deviceState": (True, 2., 1),
+  "chestnutState": (True, 10., 10),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -33,15 +33,15 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
+  "narrowRoadEncodeIdx": (False, 20., 1),
+  "radarTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0., None, QueueSize.BIG),
   "errorLogMessage": (True, 0., 1, QueueSize.BIG),
-  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
-  "androidLog": (True, 0.),
+  "extrinsicsCalibration": (True, 4., 4),
+  "lateralTorqueParameters": (True, 4., 1),
+  "lateralDelay": (True, 4., 1),
+  "operatingSystemLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
@@ -55,15 +55,15 @@ _services: dict[str, tuple] = {
   "qcomGnss": (True, 2.),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveParameters": (True, 20., 5),
+  "deviceMotion": (True, 20., 4),
+  "vehicleParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 1 / 60., 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
+  "narrowRoadCameraState": (True, 20., 20),
+  "cabinCameraState": (True, 20., 20),
+  "cabinEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
@@ -71,16 +71,15 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "qRoadEncodeIdx": (False, 20.),
+  "qNarrowRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "narrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "cabinEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qNarrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1, QueueSize.BIG),
@@ -100,11 +99,11 @@ _services: dict[str, tuple] = {
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
   "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamNarrowRoadEncodeIdx": (False, 20.),
+  "livestreamCabinEncodeIdx": (False, 20.),
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamNarrowRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamCabinEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
@@ -125,8 +124,7 @@ def build_header():
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
   h += "};\n"
 
   h += "#endif\n"

openpilot/cereal/visionipc.py

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

openpilot/cereal/visionstream.h

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

openpilot/common

@@ -1 +0,0 @@
-../common

openpilot/common/SConscript

@@ -0,0 +1,19 @@
+Import('env')
+
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'ratekeeper.cc',
+  'yuv.cc',
+]
+
+_common = env.Library('common', common_libs, LIBS="json11")
+Export('_common')
+
+params_python = env.SharedLibrary('params_c', 'params_c.cc', LIBS=[_common, 'zmq', 'json11'])
+common_python = [params_python]
+Export('common_python')
+
+if GetOption('extras'):
+  env.Program('tests/test_swaglog', 'tests/test_swaglog.cc', LIBS=[_common, 'json11', 'zmq', 'pthread'])

openpilot/common/api/base.py

@@ -3,8 +3,8 @@ import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.version import get_version
 
 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -38,6 +38,7 @@ class BaseApi:
     }
     if payload_extra is not None:
       payload.update(payload_extra)
+    assert self.private_key is not None
     token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')