Merge remote-tracking branch 'origin/master' into master3

.github/workflows/selfdrive_tests.yaml

@@ -123,7 +123,6 @@ jobs:
       timeout-minutes: 15
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -301,7 +300,6 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4

.github/workflows/tools_tests.yaml

@@ -34,8 +34,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run bridge test
       run: |
-        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        source selfdrive/test/setup_xvfb.sh && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.9
+    rev: v0.4.10
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'

Jenkinsfile

@@ -26,7 +26,6 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
 
@@ -135,10 +134,8 @@ def pcStage(String stageName, Closure body) {
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
-    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
   }
 }
 

cereal/car.capnp

@@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
+    espActive @121;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -194,6 +195,7 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;

docs/CARS.md

@@ -27,7 +27,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
@@ -54,17 +54,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 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"></img></a>|
-|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||

docs/new/README.md

@@ -0,0 +1,12 @@
+This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
+
+https://www.mkdocs.org/getting-started/
+
+```
+pip install mkdocs mkdocs-terminal
+mkdocs --serve
+```
+
+inspiration:
+* https://rerun.io/docs/
+* https://docs.expo.dev/

docs/new/docs/car-porting/brand-port.md

@@ -0,0 +1,5 @@
+# Developing a car brand port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.

docs/new/docs/car-porting/model-port.md

@@ -0,0 +1,5 @@
+# Developing a car model port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.

docs/new/docs/car-porting/what-is-a-car-port.md

@@ -0,0 +1,9 @@
+# What is a car port?
+
+All car ports live in `openpilot/selfdrive/car/`.
+
+* interface.py: Interface for the car, defines the CarInterface class
+* carstate.py: Reads CAN from car and builds openpilot CarState message
+* carcontroller.py: Builds CAN messages to send to car
+* values.py: Limits for actuation, general constants for cars, and supported car documentation
+* radar_interface.py: Interface for parsing radar points from the car

docs/new/docs/getting-started/what-is-openpilot.md

@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma 3X.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs/new/docs/how-to/turning-the-speed-blue.md

@@ -0,0 +1,4 @@
+This section is for how-to's on common workflows.
+
+They'll be like this blog post we wrote:
+https://blog.comma.ai/turning-the-speed-blue/

docs/new/mkdocs.yml

@@ -0,0 +1,18 @@
+site_name: openpilot docs
+docs_dir: docs
+repo_url: https://github.com/commaai/openpilot/
+
+theme:
+  name: terminal
+  features:
+    - navigation.side.toc.hide
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turning-the-speed-blue.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md

poetry.lock

@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
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 [package.dependencies]
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-
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 [[package]]
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 version = "3.0.0"
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 ]
 
 [package.extras]
@@ -1075,13 +1027,13 @@ files = [
 
 [[package]]
 name = "filelock"
-version = "3.15.3"
+version = "3.15.4"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -1089,53 +1041,6 @@ docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1
 testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)", "virtualenv (>=20.26.2)"]
 typing = ["typing-extensions (>=4.8)"]
 
-[[package]]
-name = "fiona"
-version = "1.9.6"
-description = "Fiona reads and writes spatial data files"
-optional = false
-python-versions = ">=3.7"
-files = [
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-]
-
-[package.dependencies]
-attrs = ">=19.2.0"
-certifi = "*"
-click = ">=8.0,<9.0"
-click-plugins = ">=1.0"
-cligj = ">=0.5"
-six = "*"
-
-[package.extras]
-all = ["fiona[calc,s3,test]"]
-calc = ["shapely"]
-s3 = ["boto3 (>=1.3.1)"]
-test = ["fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
-
 [[package]]
 name = "flaky"
 version = "3.8.1"
@@ -1325,22 +1230,26 @@ rewrite = ["tokenize-rt (>=3)"]
 
 [[package]]
 name = "geopandas"
-version = "0.14.4"
+version = "1.0.0"
 description = "Geographic pandas extensions"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "geopandas-0.14.4-py3-none-any.whl", hash = "sha256:3bb6473cb59d51e1a7fe2dbc24a1a063fb0ebdeddf3ce08ddbf8c7ddc99689aa"},
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+    {file = "geopandas-1.0.0.tar.gz", hash = "sha256:386d42c028047e2b0f09191d7859268304761c4711a247173a88891b6161f711"},
 ]
 
 [package.dependencies]
-fiona = ">=1.8.21"
 numpy = ">=1.22"
 packaging = "*"
 pandas = ">=1.4.0"
+pyogrio = ">=0.7.2"
 pyproj = ">=3.3.0"
-shapely = ">=1.8.0"
+shapely = ">=2.0.0"
+
+[package.extras]
+all = ["GeoAlchemy2", "SQLAlchemy (>=1.3)", "folium", "geopy", "mapclassify", "matplotlib (>=3.5.0)", "psycopg-binary (>=3.1.0)", "pyarrow (>=8.0.0)", "xyzservices"]
+dev = ["black", "codecov", "pre-commit", "pytest (>=3.1.0)", "pytest-cov", "pytest-xdist"]
 
 [[package]]
 name = "google-crc32c"
@@ -1543,22 +1452,22 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "7.1.0"
+version = "7.2.1"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_metadata-7.1.0-py3-none-any.whl", hash = "sha256:30962b96c0c223483ed6cc7280e7f0199feb01a0e40cfae4d4450fc6fab1f570"},
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+    {file = "importlib_metadata-7.2.1.tar.gz", hash = "sha256:509ecb2ab77071db5137c655e24ceb3eee66e7bbc6574165d0d114d9fc4bbe68"},
 ]
 
 [package.dependencies]
 zipp = ">=0.5"
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "iniconfig"
@@ -2269,13 +2178,13 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.28.1"
+version = "1.29.0"
 description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "msal-1.28.1.tar.gz", hash = "sha256:d72bbfe2d5c2f2555f4bc6205be4450ddfd12976610dd9a16a9ab0f05c68b64d"},
+    {file = "msal-1.29.0-py3-none-any.whl", hash = "sha256:6b301e63f967481f0cc1a3a3bac0cf322b276855bc1b0955468d9deb3f33d511"},
+    {file = "msal-1.29.0.tar.gz", hash = "sha256:8f6725f099752553f9b2fe84125e2a5ebe47b49f92eacca33ebedd3a9ebaae25"},
 ]
 
 [package.dependencies]
@@ -2288,22 +2197,18 @@ broker = ["pymsalruntime (>=0.13.2,<0.17)"]
 
 [[package]]
 name = "msal-extensions"
-version = "1.1.0"
+version = "1.2.0"
 description = "Microsoft Authentication Library extensions (MSAL EX) provides a persistence API that can save your data on disk, encrypted on Windows, macOS and Linux. Concurrent data access will be coordinated by a file lock mechanism."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "msal-extensions-1.1.0.tar.gz", hash = "sha256:6ab357867062db7b253d0bd2df6d411c7891a0ee7308d54d1e4317c1d1c54252"},
-    {file = "msal_extensions-1.1.0-py3-none-any.whl", hash = "sha256:01be9711b4c0b1a151450068eeb2c4f0997df3bba085ac299de3a66f585e382f"},
+    {file = "msal_extensions-1.2.0-py3-none-any.whl", hash = "sha256:cf5ba83a2113fa6dc011a254a72f1c223c88d7dfad74cc30617c4679a417704d"},
+    {file = "msal_extensions-1.2.0.tar.gz", hash = "sha256:6f41b320bfd2933d631a215c91ca0dd3e67d84bd1a2f50ce917d5874ec646bef"},
 ]
 
 [package.dependencies]
-msal = ">=0.4.1,<2.0.0"
-packaging = "*"
-portalocker = [
-    {version = ">=1.0,<3", markers = "platform_system != \"Windows\""},
-    {version = ">=1.6,<3", markers = "platform_system == \"Windows\""},
-]
+msal = ">=1.29,<2"
+portalocker = ">=1.4,<3"
 
 [[package]]
 name = "multidict"
@@ -3039,13 +2944,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "portalocker"
-version = "2.8.2"
+version = "2.10.0"
 description = "Wraps the portalocker recipe for easy usage"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -6404,6 +6309,52 @@ files = [
 pyobjc-core = ">=10.3.1"
 pyobjc-framework-Cocoa = ">=10.3.1"
 
+[[package]]
+name = "pyogrio"
+version = "0.9.0"
+description = "Vectorized spatial vector file format I/O using GDAL/OGR"
+optional = false
+python-versions = ">=3.8"
+files = [
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+    {file = "pyogrio-0.9.0.tar.gz", hash = "sha256:6a6fa2e8cf95b3d4a7c0fac48bce6e5037579e28d3eb33b53349d6e11f15e5a8"},
+]
+
+[package.dependencies]
+certifi = "*"
+numpy = "*"
+packaging = "*"
+
+[package.extras]
+benchmark = ["pytest-benchmark"]
+dev = ["Cython"]
+geopandas = ["geopandas"]
+test = ["pytest", "pytest-cov"]
+
 [[package]]
 name = "pyopencl"
 version = "2024.2.6"
@@ -7152,28 +7103,28 @@ docs = ["furo (==2024.4.27)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.4.9"
+version = "0.4.10"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "ruff-0.4.10.tar.gz", hash = "sha256:3aa4f2bc388a30d346c56524f7cacca85945ba124945fe489952aadb6b5cd804"},
 ]
 
 [[package]]
@@ -7258,6 +7209,7 @@ optional = false
 python-versions = ">=3.6"
 files = [
     {file = "sentry_sdk-2.6.0-py2.py3-none-any.whl", hash = "sha256:422b91cb49378b97e7e8d0e8d5a1069df23689d45262b86f54988a7db264e874"},
+    {file = "sentry_sdk-2.6.0.tar.gz", hash = "sha256:65cc07e9c6995c5e316109f138570b32da3bd7ff8d0d0ee4aaf2628c3dd8127d"},
 ]
 
 [package.dependencies]
@@ -7690,13 +7642,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.32.0.20240602"
+version = "2.32.0.20240622"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.32.0.20240602.tar.gz", hash = "sha256:3f98d7bbd0dd94ebd10ff43a7fbe20c3b8528acace6d8efafef0b6a184793f06"},
-    {file = "types_requests-2.32.0.20240602-py3-none-any.whl", hash = "sha256:ed3946063ea9fbc6b5fc0c44fa279188bae42d582cb63760be6cb4b9d06c3de8"},
+    {file = "types-requests-2.32.0.20240622.tar.gz", hash = "sha256:ed5e8a412fcc39159d6319385c009d642845f250c63902718f605cd90faade31"},
+    {file = "types_requests-2.32.0.20240622-py3-none-any.whl", hash = "sha256:97bac6b54b5bd4cf91d407e62f0932a74821bc2211f22116d9ee1dd643826caf"},
 ]
 
 [package.dependencies]
@@ -7754,13 +7706,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.2"
+version = "20.26.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
-    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
+    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
+    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
 ]
 
 [package.dependencies]

selfdrive/car/chrysler/fingerprints.py

@@ -232,6 +232,7 @@ FW_VERSIONS = {
       b'68540436AD',
       b'68598670AB',
       b'68598670AC',
+      b'68645752AA',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416741AA',
@@ -253,6 +254,7 @@ FW_VERSIONS = {
       b'68526772AD ',
       b'68526772AH ',
       b'68599493AC ',
+      b'68657433AA ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
       b'05185116AF',
@@ -267,6 +269,7 @@ FW_VERSIONS = {
       b'68540977AH',
       b'68540977AK',
       b'68597647AE',
+      b'68632416AB',
     ],
   },
   CAR.JEEP_GRAND_CHEROKEE: {
@@ -290,6 +293,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x747, None): [
       b'68252642AG',
       b'68306178AD',
+      b'68336275AB',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
@@ -375,6 +379,7 @@ FW_VERSIONS = {
       b'68449435AE ',
       b'68496223AA ',
       b'68504959AD ',
+      b'68504959AE ',
       b'68504960AD ',
       b'68504993AC ',
     ],
@@ -433,6 +438,7 @@ FW_VERSIONS = {
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
+      b'68527383AE',
       b'68527387AE',
       b'68527403AC',
       b'68527403AD',
@@ -536,6 +542,7 @@ FW_VERSIONS = {
       b'05190341AD',
       b'68378695AJ ',
       b'68378696AJ ',
+      b'68378696AK ',
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',

selfdrive/car/chrysler/values.py

@@ -41,7 +41,7 @@ class CAR(Platforms):
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(

selfdrive/car/honda/fingerprints.py

@@ -877,7 +877,10 @@ FW_VERSIONS = {
       b'36161-T20-A070\x00\x00',
       b'36161-T20-A080\x00\x00',
       b'36161-T24-T070\x00\x00',
+      b'36161-T47-A050\x00\x00',
       b'36161-T47-A070\x00\x00',
+      b'8S102-T20-AA10\x00\x00',
+      b'8S102-T47-AA10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',

selfdrive/car/honda/values.py

@@ -141,8 +141,8 @@ class CAR(Platforms):
   )
   HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
     HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),

selfdrive/car/hyundai/carstate.py

@@ -119,6 +119,7 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
+    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):

selfdrive/car/hyundai/fingerprints.py

@@ -2,10 +2,11 @@
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
+Ecu = car.CarParams.Ecu
+
 # The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
 
-Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
   CAR.HYUNDAI_SANTA_FE: [{
@@ -985,6 +986,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
@@ -993,13 +995,12 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {

selfdrive/car/hyundai/values.py

@@ -520,8 +520,9 @@ class CAR(Platforms):
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,

selfdrive/car/interfaces.py

@@ -280,6 +280,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
+    if cs_out.espActive:
+      events.add(EventName.espActive)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:

selfdrive/car/mazda/fingerprints.py

@@ -16,6 +16,7 @@ FW_VERSIONS = {
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],

selfdrive/car/toyota/fingerprints.py

@@ -234,6 +234,7 @@ FW_VERSIONS = {
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
       b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
       b'F152633310\x00\x00\x00\x00\x00\x00',
       b'F152633D00\x00\x00\x00\x00\x00\x00',
       b'F152633D60\x00\x00\x00\x00\x00\x00',
@@ -251,6 +252,7 @@ FW_VERSIONS = {
       b'\x018966306T4000\x00\x00\x00\x00',
       b'\x018966306T4100\x00\x00\x00\x00',
       b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x018966333Z1000\x00\x00\x00\x00',
       b'\x01896633T20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -266,6 +268,7 @@ FW_VERSIONS = {
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -848,6 +851,7 @@ FW_VERSIONS = {
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
       b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [

selfdrive/car/volkswagen/fingerprints.py

@@ -574,6 +574,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906024AP\xf1\x891461',
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026EJ\xf1\x893916',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x8705E906018BS\xf1\x890914',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -604,6 +605,7 @@ FW_VERSIONS = {
       b'\xf1\x870DD300046K \xf1\x892302',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
@@ -617,6 +619,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
@@ -636,6 +639,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QF909144  \xf1\x895572\xf1\x82\x0571A60833A1',
       b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',

selfdrive/controls/lib/events.py

@@ -831,6 +831,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
+  EventName.espActive: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
+  },
+
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),

selfdrive/test/process_replay/model_replay.py

@@ -81,31 +81,6 @@ if __name__ == "__main__":
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
-  # Update tile refs
-  if update:
-    import urllib
-    import requests
-    import threading
-    import http.server
-    from openpilot.tools.lib.openpilotci import upload_bytes
-    os.environ['MAPS_HOST'] = 'http://localhost:5000'
-
-    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
-      def do_GET(self):
-        assert len(self.path) > 10  # Sanity check on path length
-        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
-        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
-        self.send_response(r.status_code)
-        self.send_header('Content-type','text/html')
-        self.end_headers()
-        self.wfile.write(r.content)
-
-    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
-    thread = threading.Thread(None, server.serve_forever, daemon=True)
-    thread.start()
-  else:
-    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
-
   log_msgs = []
   # run replays
   if not NO_MODEL:

selfdrive/ui/qt/home.cc

@@ -28,7 +28,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
-  QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
   body = new BodyWindow(this);
@@ -49,10 +48,6 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
-void HomeWindow::showMapPanel(bool show) {
-  onroad->showMapPanel(show);
-}
-
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
@@ -86,7 +81,7 @@ void HomeWindow::showDriverView(bool show) {
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    sidebar->setVisible(!sidebar->isVisible());
   }
 }
 

selfdrive/ui/qt/home.h

@@ -55,7 +55,6 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
-  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -56,10 +56,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
   const bool cs_alive = sm.alive("controlsState");
-  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
-  const auto nav_instruction = sm["navInstruction"].getNavInstruction();
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -75,12 +73,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
-  speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
-  speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
-
-  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
-  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
@@ -114,30 +106,18 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
-  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
-  // Draw outer box + border to contain set speed and speed limit
-  const int sign_margin = 12;
-  const int us_sign_height = 186;
-  const int eu_sign_size = 176;
-
+  // Draw outer box + border to contain set speed
   const QSize default_size = {172, 204};
   QSize set_speed_size = default_size;
-  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
-
-  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
-  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
-
-  int top_radius = 32;
-  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+  if (is_metric) set_speed_size.rwidth() = 200;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
   p.setBrush(blackColor(166));
-  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
+  p.drawRoundedRect(set_speed_rect, 32, 32);
 
   // Draw MAX
   QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
@@ -147,12 +127,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
       max_color = whiteColor();
     } else if (status == STATUS_OVERRIDE) {
       max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    } else if (speedLimit > 0) {
-      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
-        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
-      };
-      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
-      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
     }
   } else {
     max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -165,35 +139,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.setPen(set_speed_color);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 
-  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
-  // US/Canada (MUTCD style) sign
-  if (has_us_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawRoundedRect(sign_rect, 24, 24);
-    p.setPen(QPen(blackColor(), 6));
-    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
-
-    p.setFont(InterFont(28, QFont::DemiBold));
-    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
-    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
-    p.setFont(InterFont(70, QFont::Bold));
-    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-  }
-
-  // EU (Vienna style) sign
-  if (has_eu_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawEllipse(sign_rect);
-    p.setPen(QPen(Qt::red, 20));
-    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
-
-    p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
-    p.setPen(blackColor());
-    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
-  }
-
   // current speed
   p.setFont(InterFont(176, QFont::Bold));
   drawText(p, rect().center().x(), 210, speedStr);

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -26,15 +26,12 @@ private:
   float speed;
   QString speedUnit;
   float setSpeed;
-  float speedLimit;
   bool is_cruise_set = false;
   bool is_metric = false;
   bool dmActive = false;
   bool hideBottomIcons = false;
   bool rightHandDM = false;
   float dm_fade_state = 1.0;
-  bool has_us_speed_limit = false;
-  bool has_eu_speed_limit = false;
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -48,12 +48,6 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  if (s.scene.map_on_left) {
-    split->setDirection(QBoxLayout::LeftToRight);
-  } else {
-    split->setDirection(QBoxLayout::RightToLeft);
-  }
-
   alerts->updateState(s);
   nvg->updateState(s);
 
@@ -73,11 +67,6 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 }
 
-void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
-}
-
 void OnroadWindow::offroadTransition(bool offroad) {
   alerts->clear();
 }

selfdrive/ui/qt/onroad/onroad_home.h

@@ -12,20 +12,12 @@ class OnroadWindow : public QWidget {
 
 public:
   OnroadWindow(QWidget* parent = 0);
-  bool isMapVisible() const { return map && map->isVisible(); }
-  void showMapPanel(bool show) { if (map) map->setVisible(show); }
-
-signals:
-  void mapPanelRequested();
 
 private:
-  void createMapWidget();
   void paintEvent(QPaintEvent *event);
-  void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
-  QWidget *map = nullptr;
   QHBoxLayout* split;
 
   // dp

selfdrive/ui/qt/util.cc

@@ -156,60 +156,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
   }
 }
 
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
-  qreal w_2 = rect.width() / 2;
-  qreal h_2 = rect.height() / 2;
-
-  xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
-  yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
-
-  xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
-  yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
-
-  qreal x = rect.x();
-  qreal y = rect.y();
-  qreal w = rect.width();
-  qreal h = rect.height();
-
-  qreal rxx2Top = w*xRadiusTop/100;
-  qreal ryy2Top = h*yRadiusTop/100;
-
-  qreal rxx2Bottom = w*xRadiusBottom/100;
-  qreal ryy2Bottom = h*yRadiusBottom/100;
-
-  QPainterPath path;
-  path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
-  path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
-  path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
-  path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
-  path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
-  path.closeSubpath();
-
-  painter.drawPath(path);
-}
-
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
-  assert(xp.size() == fp.size());
-
-  int N = xp.size();
-  int hi = 0;
-
-  while (hi < N and xv > xp[hi]) hi++;
-  int low = hi - 1;
-
-  if (hi == N && xv > xp[low]) {
-    return fp[fp.size() - 1];
-  } else if (hi == 0){
-    return fp[0];
-  } else {
-    return QColor(
-      (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
-      (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
-      (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
-      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
-  }
-}
-
 static QHash<QString, QByteArray> load_bootstrap_icons() {
   QHash<QString, QByteArray> icons;
 

selfdrive/ui/qt/util.h

@@ -26,9 +26,6 @@ void initApp(int argc, char *argv[], bool disable_hidpi = true);
 QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
-
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
 
 struct InterFont : public QFont {

selfdrive/ui/translations/languages.json

@@ -3,6 +3,7 @@
   "Deutsch": "main_de",
   "Français": "main_fr",
   "Português": "main_pt-BR",
+  "Español": "main_es",
   "Türkçe": "main_tr",
   "العربية": "main_ar",
   "ไทย": "main_th",

selfdrive/ui/translations/main_ar.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_de.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>Geschwindigkeit</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_fr.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>VITESSE</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMITE</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_ja.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>制限速度</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_ko.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>LIMITE</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>VELO</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -497,7 +489,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>Captura remota</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_th.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>สูงสุด</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>ความเร็ว</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>จำกัด</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_tr.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation type="unfinished">HIZ</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation type="unfinished">LİMİT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>速限</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>

selfdrive/ui/ui.cc

@@ -214,8 +214,6 @@ static void update_state(UIState *s) {
 void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
-  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
-
 }
 
 void UIState::updateStatus() {
@@ -246,8 +244,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks",
-
+    "wideRoadCameraState", "managerState", "clocks",
     // dp
     // flight panel
     gps_service.toStdString().c_str(),

selfdrive/ui/ui.h

@@ -105,7 +105,7 @@ typedef struct UIScene {
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  bool started, ignition, is_metric, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;
 

system/loggerd/deleter.py

@@ -37,9 +37,9 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
     except ValueError:
       continue
 
-    # preserve segment and its prior
-    preserved.append(d)
-    preserved.append(f"{date_str}--{seg_num - 1}")
+    # preserve segment and two prior
+    for _seg_num in range(max(0, seg_num - 2), seg_num + 1):
+      preserved.append(f"{date_str}--{_seg_num}")
 
   return preserved
 

tools/cabana/chart/chart.cc

@@ -421,13 +421,6 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
   return q * z;
 }
 
-void ChartView::leaveEvent(QEvent *event) {
-  if (tip_label->isVisible()) {
-    charts_widget->showValueTip(-1);
-  }
-  QChartView::leaveEvent(event);
-}
-
 QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
   QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
   e->setColor(QColor(40, 40, 40, 245));
@@ -546,7 +539,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   bool is_zooming = rubber && rubber->isVisible();
   clearTrackPoints();
 
-  if (!is_zooming && plot_area.contains(ev->pos())) {
+  if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
     const double sec = chart()->mapToValue(ev->pos()).x();
     charts_widget->showValueTip(sec);
   } else if (tip_label->isVisible()) {

tools/cabana/chart/chart.h

@@ -76,7 +76,6 @@ private:
   void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
   void dragMoveEvent(QDragMoveEvent *event) override;
   void dropEvent(QDropEvent *event) override;
-  void leaveEvent(QEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
   QSize sizeHint() const override;
   void updateAxisY();

tools/cabana/chart/chartswidget.cc

@@ -116,13 +116,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) updateLayout(true);
   });
-  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
-    emit dock(!docking);
-    docking = !docking;
-    updateToolBar();
-  });
+  QObject::connect(dock_btn, &QToolButton::clicked, this, &ChartsWidget::toggleChartsDocking);
 
+  setIsDocked(true);
   newTab();
+  qApp->installEventFilter(this);
+
   setWhatsThis(tr(R"(
     <b>Chart view</b><br />
     <!-- TODO: add descprition here -->
@@ -177,8 +176,11 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  if (sec < 0 && !value_tip_visible_) return;
+
+  value_tip_visible_ = sec >= 0;
   for (auto c : currentCharts()) {
-    sec >= 0 ? c->showTip(sec) : c->hideTip();
+    value_tip_visible_ ? c->showTip(sec) : c->hideTip();
   }
 }
 
@@ -209,6 +211,12 @@ void ChartsWidget::setMaxChartRange(int value) {
   updateState();
 }
 
+void ChartsWidget::setIsDocked(bool docked) {
+  is_docked = docked;
+  dock_btn->setIcon(is_docked ? "arrow-up-right-square" : "arrow-down-left-square");
+  dock_btn->setToolTip(is_docked ? tr("Float the charts window") : tr("Dock the charts window"));
+}
+
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
@@ -222,8 +230,6 @@ void ChartsWidget::updateToolBar() {
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
-  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
-  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
 }
 
 void ChartsWidget::settingChanged() {
@@ -375,11 +381,6 @@ QSize ChartsWidget::minimumSizeHint() const {
   return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
 }
 
-void ChartsWidget::resizeEvent(QResizeEvent *event) {
-  QWidget::resizeEvent(event);
-  updateLayout();
-}
-
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
@@ -432,10 +433,16 @@ void ChartsWidget::alignCharts() {
   }
 }
 
-bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->clicked();
-    return true;
+bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
+  if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
+    auto pos = static_cast<QMouseEvent *>(e)->globalPos();
+    bool outside_plot_area =std::none_of(charts.begin(), charts.end(), [&pos](auto c) {
+      return c->chart()->plotArea().contains(c->mapFromGlobal(pos));
+    });
+
+    if (outside_plot_area) {
+      showValueTip(-1);
+    }
   }
   return false;
 }
@@ -443,30 +450,25 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 bool ChartsWidget::event(QEvent *event) {
   bool back_button = false;
   switch (event->type()) {
-    case QEvent::MouseButtonPress: {
-      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
-      back_button = ev->button() == Qt::BackButton;
+    case QEvent::Resize:
+      updateLayout();
       break;
-    }
-    case QEvent::NativeGesture: {
-      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
-      back_button = (ev->value() == 180);
+    case QEvent::MouseButtonPress:
+      back_button = static_cast<QMouseEvent *>(event)->button() == Qt::BackButton;
+      break;
+    case QEvent::NativeGesture:
+      back_button = (static_cast<QNativeGestureEvent *>(event)->value() == 180);
       break;
-    }
-    case QEvent::WindowActivate:
     case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
     case QEvent::FocusOut:
-    case QEvent::Leave:
       showValueTip(-1);
-      break;
     default:
       break;
   }
 
   if (back_button) {
     zoom_undo_stack->undo();
-    return true;
+    return true;  // Return true since the event has been handled
   }
   return QFrame::event(event);
 }

tools/cabana/chart/chartswidget.h

@@ -47,14 +47,14 @@ public slots:
   void setColumnCount(int n);
   void removeAll();
   void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
+  void setIsDocked(bool dock);
 
 signals:
-  void dock(bool floating);
+  void toggleChartsDocking();
   void seriesChanged();
 
 private:
   QSize minimumSizeHint() const override;
-  void resizeEvent(QResizeEvent *event) override;
   bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
@@ -85,7 +85,7 @@ private:
   LogSlider *range_slider;
   QAction *range_lb_action;
   QAction *range_slider_action;
-  bool docking = true;
+  bool is_docked = true;
   ToolButton *dock_btn;
 
   QAction *undo_zoom_action;
@@ -109,6 +109,7 @@ private:
   QTimer *auto_scroll_timer;
   QTimer *align_timer;
   int current_theme = 0;
+  bool value_tip_visible_ = false;
   friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;

tools/cabana/chart/tiplabel.cc

@@ -9,8 +9,12 @@
 #include "tools/cabana/settings.h"
 
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
+
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
+
   QFont font;
   font.setPointSizeF(8.34563465);
   setFont(font);
@@ -22,9 +26,7 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::Frameless
   setPalette(palette);
   ensurePolished();
   setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
-  setAttribute(Qt::WA_ShowWithoutActivating);
   setTextFormat(Qt::RichText);
-  setVisible(false);
 }
 
 void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) {

tools/cabana/mainwin.cc

@@ -198,7 +198,7 @@ void MainWindow::createDockWidgets() {
   video_splitter->restoreState(settings.video_splitter_state);
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
-  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
+  QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
 }
 
 void MainWindow::createStatusBar() {
@@ -577,20 +577,31 @@ void MainWindow::updateStatus() {
   status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
 }
 
-void MainWindow::dockCharts(bool dock) {
-  if (dock && floating_window) {
-    floating_window->removeEventFilter(charts_widget);
+bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  if (obj == floating_window && event->type() == QEvent::Close) {
+    toggleChartsDocking();
+    return true;
+  }
+  return QMainWindow::eventFilter(obj, event);
+}
+
+void MainWindow::toggleChartsDocking() {
+  if (floating_window) {
+    // Dock the charts widget back to the main window
+    floating_window->removeEventFilter(this);
     charts_layout->insertWidget(0, charts_widget, 1);
     floating_window->deleteLater();
     floating_window = nullptr;
-  } else if (!dock && !floating_window) {
-    floating_window = new QWidget(this);
-    floating_window->setWindowFlags(Qt::Window);
+    charts_widget->setIsDocked(true);
+  } else {
+    // Float the charts widget in a separate window
+    floating_window = new QWidget(this, Qt::Window);
     floating_window->setWindowTitle("Charts");
     floating_window->setLayout(new QVBoxLayout());
     floating_window->layout()->addWidget(charts_widget);
-    floating_window->installEventFilter(charts_widget);
+    floating_window->installEventFilter(this);
     floating_window->showMaximized();
+    charts_widget->setIsDocked(false);
   }
 }
 

tools/cabana/mainwin.h

@@ -21,7 +21,7 @@ class MainWindow : public QMainWindow {
 
 public:
   MainWindow();
-  void dockCharts(bool dock);
+  void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
@@ -46,6 +46,7 @@ signals:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
   void closeFile(DBCFile *dbc_file);

tools/cabana/messageswidget.cc

@@ -411,7 +411,7 @@ void MessageView::updateBytesSectionSize() {
       max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
-  setUniformRowHeights(!delegate->multipleLines() || max_bytes <= 8);
+  setUniformRowHeights(!delegate->multipleLines());
   header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 

tools/install_ubuntu_dependencies.sh

@@ -53,6 +53,7 @@ function install_ubuntu_common_requirements() {
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
     portaudio19-dev \
+    qml-module-qtquick2 \
     qtmultimedia5-dev \
     qtdeclarative5-dev \
     qttools5-dev-tools \