selfdrive/test

old-commit-hash: c0bfbc12c7

selfdrive/test/.gitignore

@@ -0,0 +1,2 @@
+out/
+docker_out/

selfdrive/test/eon_testing_slave.py

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+#!/usr/bin/env python3
+import re
+import time
+import json
+import base64
+import requests
+import subprocess
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from os.path import expanduser
+from threading import Thread
+
+from common.params import Params
+import os
+
+
+MASTER_HOST = "testing.comma.life"
+
+
+def get_workdir():
+  continue_sh = open('/data/data/com.termux/files/continue.sh').read()
+  for l in continue_sh.split('\n'):
+    if l.startswith('#'):
+      continue
+
+    if 'cd "$HOME/one"' in l:
+      work_dir = expanduser('~/one')
+      return work_dir
+
+  work_dir = '/data/openpilot'
+  return work_dir
+
+
+def heartbeat():
+  work_dir = get_workdir()
+  env = {
+    "LD_LIBRARY_PATH": "",
+    "ANDROID_DATA": "/data",
+    "ANDROID_ROOT": "/system",
+  }
+
+  while True:
+
+    with open(os.path.join(work_dir, "selfdrive", "common", "version.h")) as _versionf:
+      version = _versionf.read().split('"')[1]
+
+    # subprocess.check_output(["/system/bin/screencap", "-p", "/tmp/screen.png"], cwd=work_dir, env=env)
+    # screenshot = base64.b64encode(open('/tmp/screen.png').read())
+    tmux = ""
+
+    try:
+      tmux = os.popen('tail -n 100 /tmp/tmux_out').read()
+    except:
+      pass
+
+    params = Params()
+    msg = {
+      'version': version,
+      'dongle_id': params.get("DongleId").rstrip().decode('utf8'),
+      'remote': subprocess.check_output(["git", "config", "--get", "remote.origin.url"], cwd=work_dir).decode('utf8').rstrip(),
+      'revision': subprocess.check_output(["git", "rev-parse", "HEAD"], cwd=work_dir).decode('utf8').rstrip(),
+      'serial': subprocess.check_output(["getprop", "ro.boot.serialno"]).decode('utf8').rstrip(),
+      # 'screenshot': screenshot,
+      'tmux': tmux,
+    }
+
+    try:
+      requests.post('http://%s/eon/heartbeat/' % MASTER_HOST, json=msg, timeout=10.0)
+    except:
+      print("Unable to reach master")
+
+    time.sleep(5)
+
+
+class HTTPHandler(BaseHTTPRequestHandler):
+    def _set_headers(self, response=200, content='text/html'):
+        self.send_response(response)
+        self.send_header('Content-type', content)
+        self.end_headers()
+
+    def do_GET(self):
+        self._set_headers()
+        self.wfile.write("EON alive")
+
+    def do_HEAD(self):
+        self._set_headers()
+
+    def do_POST(self):
+        # Doesn't do anything with posted data
+        self._set_headers(response=204)
+
+        content_length = int(self.headers['Content-Length'])
+        post_data = self.rfile.read(content_length)
+        post_data = json.loads(post_data)
+
+        if 'command' not in post_data or 'dongle_id' not in post_data:
+          return
+
+        params = Params()
+        if params.get("DongleId").rstrip() != post_data['dongle_id']:
+          return
+
+        if post_data['command'] == "reboot":
+          subprocess.check_output(["reboot"])
+
+        if post_data['command'] == "update":
+          print("Pulling new version")
+          work_dir = get_workdir()
+          env = {
+            "GIT_SSH_COMMAND": "ssh -i /data/gitkey",
+            "LD_LIBRARY_PATH": "/data/data/com.termux/files/usr/lib/",
+            "ANDROID_DATA": "/data",
+            "ANDROID_ROOT": "/system",
+          }
+
+          subprocess.check_output(["git", "reset", "--hard"], cwd=work_dir, env=env)
+          # subprocess.check_output(["git", "clean", "-xdf"], cwd=work_dir, env=env)
+          try:
+            subprocess.check_output(["git", "fetch", "--unshallow"], cwd=work_dir, env=env)
+          except subprocess.CalledProcessError:
+            pass
+
+          if 'revision' in post_data and re.match(r'\b[0-9a-f]{5,40}\b', post_data['revision']):
+            subprocess.check_output(["git", "fetch", "origin"], cwd=work_dir, env=env)
+            subprocess.check_output(["git", "checkout", post_data['revision']], cwd=work_dir, env=env)
+          else:
+            subprocess.check_output(["git", "pull"], cwd=work_dir, env=env)
+
+          subprocess.check_output(["git", "submodule", "update"], cwd=work_dir, env=env)
+          subprocess.check_output(["git", "lfs", "pull"], cwd=work_dir, env=env)
+          subprocess.check_output(["reboot"], cwd=work_dir, env=env)
+
+
+def control_server(server_class=HTTPServer, handler_class=HTTPHandler, port=8080):
+    server_address = ('', port)
+    httpd = server_class(server_address, handler_class)
+    print('Starting httpd...')
+    httpd.serve_forever()
+
+
+if __name__ == "__main__":
+  heartbeat_thread = Thread(target=heartbeat)
+  heartbeat_thread.daemon = True
+  heartbeat_thread.start()
+
+  control_thread = Thread(target=control_server)
+  control_thread.daemon = True
+  control_thread.start()
+
+  while True:
+    time.sleep(1)

selfdrive/test/leeco_selftest.sh

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+#!/usr/bin/bash
+
+HOME=~/one
+
+if [ ! -d $HOME ]; then
+  HOME=/data/chffrplus
+fi
+
+camera_test () {
+  printf "Running camera test...\n"
+
+  cd $HOME/selfdrive/visiond
+
+  if [ ! -e visiond ]; then
+    make > /dev/null
+  fi
+
+  CAMERA_TEST=1 ./visiond > /dev/null
+  V4L_SUBDEVS=$(find -L /sys/class/video4linux/v4l-subdev* -maxdepth 1 -name name -exec cat {} \;)
+  CAMERA_COUNT=0
+  for SUBDEV in $V4L_SUBDEVS; do
+    if [ "$SUBDEV" == "imx298" ] || [ "$SUBDEV" == "ov8865_sunny" ]; then
+      CAMERA_COUNT=$((CAMERA_COUNT + 1))
+    fi
+  done
+
+  if [ "$CAMERA_COUNT" == "2" ]; then
+    printf "Camera test: SUCCESS!\n"
+  else
+    printf "One or more cameras are missing! Camera count: $CAMERA_COUNT\n"
+    exit 1
+  fi
+}
+
+sensor_test () {
+  printf "Running sensor test...\n"
+
+  cd $HOME/selfdrive/sensord
+
+  if [ ! -e sensord ]; then
+    make > /dev/null
+  fi
+
+  SENSOR_TEST=1 LD_LIBRARY_PATH=/system/lib64:$LD_LIBRARY_PATH ./sensord
+  SENSOR_COUNT=$?
+
+  if [ "$SENSOR_COUNT" == "40" ]; then
+    printf "Sensor test: SUCCESS!\n"
+  else
+    printf "One or more sensors are missing! Sensor count: $SENSOR_COUNT, expected 40\n"
+    exit 1
+  fi
+}
+
+wifi_test () {
+  printf "Running WiFi test...\n"
+
+  su -c 'svc wifi enable'
+  WIFI_STATUS=$(getprop wlan.driver.status)
+
+  if [ "$WIFI_STATUS" == "ok" ]; then
+    printf "WiFi test: SUCCESS!\n"
+  else
+    printf "WiFi isn't working! Driver status: $WIFI_STATUS\n"
+    exit 1
+  fi
+}
+
+modem_test () {
+  printf "Running modem test...\n"
+
+  BASEBAND_VERSION=$(getprop gsm.version.baseband | awk '{print $1}')
+
+  if [ "$BASEBAND_VERSION" == "MPSS.TH.2.0.c1.9.1-00010" ]; then
+    printf "Modem test: SUCCESS!\n"
+  else
+    printf "Modem isn't working! Detected baseband version: $BASEBAND_VERSION\n"
+    exit 1
+  fi
+}
+
+fan_test () {
+  printf "Running fan test...\n"
+
+  i2cget -f -y 7 0x67 0 1>/dev/null 2>&1
+  IS_NORMAL_LEECO=$?
+
+  if [ "$IS_NORMAL_LEECO" == "0" ]; then
+    /tmp/test_leeco_alt_fan.py > /dev/null
+  else
+    /tmp/test_leeco_fan.py > /dev/null
+  fi
+
+  printf "Fan test: the fan should now be running at full speed, press Y or N\n"
+
+  read -p "Is the fan running [Y/n]?\n" fan_running
+  case $fan_running in
+    [Nn]* )
+      printf "Fan isn't working! (user says it isn't working)\n"
+      exit 1
+      ;;
+  esac
+
+  printf "Turning off the fan ...\n"
+  if [ "$IS_NORMAL_LEECO" == "0" ]; then
+    i2cset -f -y 7 0x67 0xa 0
+  else
+    i2cset -f -y 7 0x3d 0 0x1
+  fi
+}
+
+camera_test
+printf "\n"
+
+sensor_test
+printf "\n"
+
+wifi_test
+printf "\n"
+
+modem_test
+printf "\n"
+
+fan_test

selfdrive/test/longitudinal_maneuvers/.gitignore

@@ -0,0 +1 @@
+out/*

selfdrive/test/longitudinal_maneuvers/cleanup_plant_docker.sh

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+#!/bin/sh
+docker run -v $(pwd)/docker_out:/tmp/openpilot/selfdrive/test/out openpilot_ci /bin/bash -c "rm -Rf /tmp/openpilot/selfdrive/test/out/longitudinal"

selfdrive/test/longitudinal_maneuvers/maneuver.py

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+from collections import defaultdict
+from selfdrive.test.longitudinal_maneuvers.maneuverplots import ManeuverPlot
+from selfdrive.test.longitudinal_maneuvers.plant import Plant
+import numpy as np
+
+
+class Maneuver():
+  def __init__(self, title, duration, **kwargs):
+    # Was tempted to make a builder class
+    self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
+    self.speed = kwargs.get("initial_speed", 0.0)
+    self.lead_relevancy = kwargs.get("lead_relevancy", 0)
+
+    self.grade_values = kwargs.get("grade_values", [0.0, 0.0])
+    self.grade_breakpoints = kwargs.get("grade_breakpoints", [0.0, duration])
+    self.speed_lead_values = kwargs.get("speed_lead_values", [0.0, 0.0])
+    self.speed_lead_breakpoints = kwargs.get("speed_lead_breakpoints", [0.0, duration])
+
+    self.cruise_button_presses = kwargs.get("cruise_button_presses", [])
+    self.checks = kwargs.get("checks", [])
+
+    self.duration = duration
+    self.title = title
+
+  def evaluate(self):
+    """runs the plant sim and returns (score, run_data)"""
+    plant = Plant(
+      lead_relevancy = self.lead_relevancy,
+      speed = self.speed,
+      distance_lead = self.distance_lead
+    )
+
+    logs = defaultdict(list)
+    last_controls_state = None
+    plot = ManeuverPlot(self.title)
+
+    buttons_sorted = sorted(self.cruise_button_presses, key=lambda a: a[1])
+    current_button = 0
+    while plant.current_time() < self.duration:
+      while buttons_sorted and plant.current_time() >= buttons_sorted[0][1]:
+        current_button = buttons_sorted[0][0]
+        buttons_sorted = buttons_sorted[1:]
+        print("current button changed to {0}".format(current_button))
+
+      grade = np.interp(plant.current_time(), self.grade_breakpoints, self.grade_values)
+      speed_lead = np.interp(plant.current_time(), self.speed_lead_breakpoints, self.speed_lead_values)
+
+      # distance, speed, acceleration, distance_lead, brake, gas, steer_torque, fcw, controls_state= plant.step(speed_lead, current_button, grade)
+      log = plant.step(speed_lead, current_button, grade)
+
+      if log['controls_state_msgs']:
+        last_controls_state = log['controls_state_msgs'][-1]
+
+      d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
+      v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
+      log['d_rel'] = d_rel
+      log['v_rel'] = v_rel
+
+      if last_controls_state:
+        # print(last_controls_state)
+        #develop plots
+        plot.add_data(
+          time=plant.current_time(),
+          gas=log['gas'], brake=log['brake'], steer_torque=log['steer_torque'],
+          distance=log['distance'], speed=log['speed'], acceleration=log['acceleration'],
+          up_accel_cmd=last_controls_state.upAccelCmd, ui_accel_cmd=last_controls_state.uiAccelCmd,
+          uf_accel_cmd=last_controls_state.ufAccelCmd,
+          d_rel=d_rel, v_rel=v_rel, v_lead=speed_lead,
+          v_target_lead=last_controls_state.vTargetLead, pid_speed=last_controls_state.vPid,
+          cruise_speed=last_controls_state.vCruise,
+          jerk_factor=last_controls_state.jerkFactor,
+          a_target=last_controls_state.aTarget,
+          fcw=log['fcw'])
+
+        for k, v in log.items():
+          logs[k].append(v)
+
+    valid = True
+    for check in self.checks:
+      c = check(logs)
+      if not c:
+        print(check.__name__ + " not valid!")
+      valid = valid and c
+
+    print("maneuver end", valid)
+    return (plot, valid)

selfdrive/test/longitudinal_maneuvers/maneuverplots.py

@@ -0,0 +1,143 @@
+import os
+
+import numpy as np
+import matplotlib.pyplot as plt
+import pylab
+
+from selfdrive.config import Conversions as CV
+
+class ManeuverPlot():
+  def __init__(self, title = None):
+    self.time_array = []
+
+    self.gas_array =  []
+    self.brake_array = []
+    self.steer_torque_array = []
+
+    self.distance_array = []
+    self.speed_array = []
+    self.acceleration_array = []
+
+    self.up_accel_cmd_array = []
+    self.ui_accel_cmd_array = []
+    self.uf_accel_cmd_array = []
+
+    self.d_rel_array = []
+    self.v_rel_array = []
+    self.v_lead_array = []
+    self.v_target_lead_array = []
+    self.pid_speed_array = []
+    self.cruise_speed_array = []
+    self.jerk_factor_array = []
+
+    self.a_target_array = []
+
+    self.v_target_array = []
+
+    self.fcw_array = []
+
+    self.title = title
+    
+  def add_data(self, time, gas, brake, steer_torque, distance, speed, 
+    acceleration, up_accel_cmd, ui_accel_cmd, uf_accel_cmd, d_rel, v_rel, 
+    v_lead, v_target_lead, pid_speed, cruise_speed, jerk_factor, a_target, fcw):
+    self.time_array.append(time)
+    self.gas_array.append(gas)
+    self.brake_array.append(brake)
+    self.steer_torque_array.append(steer_torque)
+    self.distance_array.append(distance)
+    self.speed_array.append(speed)
+    self.acceleration_array.append(acceleration)
+    self.up_accel_cmd_array.append(up_accel_cmd)
+    self.ui_accel_cmd_array.append(ui_accel_cmd)
+    self.uf_accel_cmd_array.append(uf_accel_cmd)
+    self.d_rel_array.append(d_rel)
+    self.v_rel_array.append(v_rel)
+    self.v_lead_array.append(v_lead)
+    self.v_target_lead_array.append(v_target_lead)
+    self.pid_speed_array.append(pid_speed)
+    self.cruise_speed_array.append(cruise_speed)
+    self.jerk_factor_array.append(jerk_factor)
+    self.a_target_array.append(a_target)
+    self.fcw_array.append(fcw)
+
+
+  def write_plot(self, path, maneuver_name):
+    # title = self.title or maneuver_name
+    # TODO: Missing plots from the old one:
+    # long_control_state
+    # proportional_gb, intergral_gb
+    if not os.path.exists(path + "/" + maneuver_name):
+      os.makedirs(path + "/" + maneuver_name)
+    plt_num = 0
+    
+    # speed chart ===================
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.speed_array) * CV.MS_TO_MPH, 'r',
+      np.array(self.time_array), np.array(self.pid_speed_array) * CV.MS_TO_MPH, 'y--',
+      np.array(self.time_array), np.array(self.v_target_lead_array) * CV.MS_TO_MPH, 'b',
+      np.array(self.time_array), np.array(self.cruise_speed_array) * CV.KPH_TO_MPH, 'k',
+      np.array(self.time_array), np.array(self.v_lead_array) * CV.MS_TO_MPH, 'm'
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Speed [mph]')
+    plt.legend(['speed', 'pid speed', 'Target (lead) speed', 'Cruise speed', 'Lead speed'], loc=0)
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'speeds.svg']), dpi=1000)
+
+    # acceleration chart ============
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.acceleration_array), 'g',
+      np.array(self.time_array), np.array(self.a_target_array), 'k--',
+      np.array(self.time_array), np.array(self.fcw_array), 'ro',
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Acceleration [m/s^2]')
+    plt.legend(['ego-plant', 'target', 'fcw'], loc=0)
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'acceleration.svg']), dpi=1000)
+
+    # pedal chart ===================
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.gas_array), 'g',
+      np.array(self.time_array), np.array(self.brake_array), 'r',
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Pedal []')
+    plt.legend(['Gas pedal', 'Brake pedal'], loc=0)
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'pedals.svg']), dpi=1000)
+
+    # pid chart ======================
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.up_accel_cmd_array), 'g',
+      np.array(self.time_array), np.array(self.ui_accel_cmd_array), 'b',
+      np.array(self.time_array), np.array(self.uf_accel_cmd_array), 'r'
+    )
+    plt.xlabel("Time, [s]")
+    plt.ylabel("Accel Cmd [m/s^2]")
+    plt.grid()
+    plt.legend(["Proportional", "Integral", "feedforward"], loc=0)
+    pylab.savefig("/".join([path, maneuver_name, "pid.svg"]), dpi=1000)
+
+    # relative distances chart =======
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.d_rel_array), 'g',
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Relative Distance [m]')
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'distance.svg']), dpi=1000)
+
+    plt.close("all")
+

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -0,0 +1,465 @@
+#!/usr/bin/env python3
+import binascii
+import os
+import struct
+import time
+from collections import namedtuple
+import numpy as np
+
+from opendbc import DBC_PATH
+
+from common.realtime import Ratekeeper
+from selfdrive.config import Conversions as CV
+import cereal.messaging as messaging
+from selfdrive.car import crc8_pedal
+from selfdrive.car.honda.values import CAR
+from selfdrive.car.honda.carstate import get_can_signals
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+
+from opendbc.can.parser import CANParser
+from selfdrive.car.honda.interface import CarInterface
+
+from opendbc.can.dbc import dbc
+honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
+
+# Trick: set 0x201 (interceptor) in fingerprints for gas is controlled like if there was an interceptor
+CP = CarInterface.get_params(CAR.CIVIC, {0: {0x201: 6}, 1: {}, 2: {}, 3: {}})
+
+# Honda checksum
+def can_cksum(mm):
+  s = 0
+  for c in mm:
+    s += (c>>4)
+    s += c & 0xF
+  s = 8-s
+  s %= 0x10
+  return s
+
+def fix(msg, addr):
+  msg2 = msg[0:-1] + (msg[-1] | can_cksum(struct.pack("I", addr)+msg)).to_bytes(1, 'little')
+  return msg2
+
+
+def car_plant(pos, speed, grade, gas, brake):
+  # vehicle parameters
+  mass = 1700
+  aero_cd = 0.3
+  force_peak = mass*3.
+  force_brake_peak = -mass*10.     #1g
+  power_peak = 100000   # 100kW
+  speed_base = power_peak/force_peak
+  rolling_res = 0.01
+  g = 9.81
+  frontal_area = 2.2
+  air_density = 1.225
+  gas_to_peak_linear_slope = 3.33
+  brake_to_peak_linear_slope = 0.3
+  creep_accel_v = [1., 0.]
+  creep_accel_bp = [0., 1.5]
+
+  #*** longitudinal model ***
+  # find speed where peak torque meets peak power
+  force_brake = brake * force_brake_peak * brake_to_peak_linear_slope
+  if speed < speed_base: # torque control
+    force_gas = gas * force_peak * gas_to_peak_linear_slope
+  else: # power control
+    force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
+
+  force_grade = - grade * mass  # positive grade means uphill
+
+  creep_accel = np.interp(speed, creep_accel_bp, creep_accel_v)
+  force_creep = creep_accel * mass
+
+  force_resistance = -(rolling_res * mass * g + 0.5 * speed**2 * aero_cd * air_density * frontal_area)
+  force = force_gas + force_brake + force_resistance + force_grade + force_creep
+  acceleration = force / mass
+
+  # TODO: lateral model
+  return speed, acceleration
+
+def get_car_can_parser():
+  dbc_f = 'honda_civic_touring_2016_can_generated'
+  signals = [
+    ("STEER_TORQUE", 0xe4, 0),
+    ("STEER_TORQUE_REQUEST", 0xe4, 0),
+    ("COMPUTER_BRAKE", 0x1fa, 0),
+    ("COMPUTER_BRAKE_REQUEST", 0x1fa, 0),
+    ("GAS_COMMAND", 0x200, 0),
+  ]
+  checks = [
+    (0xe4, 100),
+    (0x1fa, 50),
+    (0x200, 50),
+  ]
+  return CANParser(dbc_f, signals, checks, 0)
+
+def to_3_byte(x):
+  # Convert into 12 bit value
+  s = struct.pack("!H", int(x))
+  return binascii.hexlify(s)[1:]
+
+def to_3s_byte(x):
+  s = struct.pack("!h", int(x))
+  return binascii.hexlify(s)[1:]
+
+class Plant():
+  messaging_initialized = False
+
+  def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
+    self.rate = rate
+
+    if not Plant.messaging_initialized:
+      Plant.logcan = messaging.pub_sock('can')
+      Plant.sendcan = messaging.sub_sock('sendcan')
+      Plant.model = messaging.pub_sock('model')
+      Plant.live_params = messaging.pub_sock('liveParameters')
+      Plant.health = messaging.pub_sock('health')
+      Plant.thermal = messaging.pub_sock('thermal')
+      Plant.driverMonitoring = messaging.pub_sock('driverMonitoring')
+      Plant.cal = messaging.pub_sock('liveCalibration')
+      Plant.controls_state = messaging.sub_sock('controlsState')
+      Plant.plan = messaging.sub_sock('plan')
+      Plant.messaging_initialized = True
+
+    self.frame = 0
+    self.angle_steer = 0.
+    self.gear_choice = 0
+    self.speed, self.speed_prev = 0., 0.
+
+    self.esp_disabled = 0
+    self.main_on = 1
+    self.user_gas = 0
+    self.computer_brake,self.user_brake = 0,0
+    self.brake_pressed = 0
+    self.angle_steer_rate = 0
+    self.distance, self.distance_prev = 0., 0.
+    self.speed, self.speed_prev = speed, speed
+    self.steer_error, self.brake_error, self.steer_not_allowed = 0, 0, 0
+    self.gear_shifter = 8   # D gear
+    self.pedal_gas = 0
+    self.cruise_setting = 0
+
+    self.seatbelt, self.door_all_closed = True, True
+    self.steer_torque, self.v_cruise, self.acc_status = 0, 0, 0  # v_cruise is reported from can, not the one used for controls
+
+    self.lead_relevancy = lead_relevancy
+
+    # lead car
+    self.distance_lead, self.distance_lead_prev = distance_lead , distance_lead
+
+    self.rk = Ratekeeper(rate, print_delay_threshold=100)
+    self.ts = 1./rate
+
+    self.cp = get_car_can_parser()
+    self.response_seen = False
+
+    time.sleep(1)
+    messaging.drain_sock(Plant.sendcan)
+    messaging.drain_sock(Plant.controls_state)
+
+  def close(self):
+    Plant.logcan.close()
+    Plant.model.close()
+    Plant.live_params.close()
+
+  def speed_sensor(self, speed):
+    if speed<0.3:
+      return 0
+    else:
+      return speed * CV.MS_TO_KPH
+
+  def current_time(self):
+    return float(self.rk.frame) / self.rate
+
+  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model = True):
+    gen_signals, gen_checks = get_can_signals(CP)
+    sgs = [s[0] for s in gen_signals]
+    msgs = [s[1] for s in gen_signals]
+    cks_msgs = set(check[0] for check in gen_checks)
+    cks_msgs.add(0x18F)
+    cks_msgs.add(0x30C)
+
+    # ******** get messages sent to the car ********
+    can_strings = messaging.drain_sock_raw(Plant.sendcan, wait_for_one=self.response_seen)
+
+    # After the first response the car is done fingerprinting, so we can run in lockstep with controlsd
+    if can_strings:
+      self.response_seen = True
+
+    self.cp.update_strings(can_strings, sendcan=True)
+
+    # ******** get controlsState messages for plotting ***
+    controls_state_msgs = []
+    for a in messaging.drain_sock(Plant.controls_state, wait_for_one=self.response_seen):
+      controls_state_msgs.append(a.controlsState)
+
+    fcw = None
+    for a in messaging.drain_sock(Plant.plan):
+      if a.plan.fcw:
+        fcw = True
+
+    if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
+      brake = self.cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
+    else:
+      brake = 0.0
+
+    if self.cp.vl[0x200]['GAS_COMMAND'] > 0:
+      gas = self.cp.vl[0x200]['GAS_COMMAND'] / 256.0
+    else:
+      gas = 0.0
+
+    if self.cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
+      steer_torque = self.cp.vl[0xe4]['STEER_TORQUE']*1.0/0xf00
+    else:
+      steer_torque = 0.0
+
+    distance_lead = self.distance_lead_prev + v_lead * self.ts
+
+    # ******** run the car ********
+    speed, acceleration = car_plant(self.distance_prev, self.speed_prev, grade, gas, brake)
+    distance = self.distance_prev + speed * self.ts
+    speed = self.speed_prev + self.ts * acceleration
+    if speed <= 0:
+      speed = 0
+      acceleration = 0
+
+    # ******** lateral ********
+    self.angle_steer -= (steer_torque/10.0) * self.ts
+
+    # *** radar model ***
+    if self.lead_relevancy:
+      d_rel = np.maximum(0., distance_lead - distance)
+      v_rel = v_lead - speed
+    else:
+      d_rel = 200.
+      v_rel = 0.
+    lateral_pos_rel = 0.
+
+    # print at 5hz
+    if (self.frame % (self.rate//5)) == 0:
+      print("%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
+
+    # ******** publish the car ********
+    vls_tuple = namedtuple('vls', [
+           'XMISSION_SPEED',
+           'WHEEL_SPEED_FL', 'WHEEL_SPEED_FR', 'WHEEL_SPEED_RL', 'WHEEL_SPEED_RR',
+           'STEER_ANGLE', 'STEER_ANGLE_RATE', 'STEER_TORQUE_SENSOR', 'STEER_TORQUE_MOTOR',
+           'LEFT_BLINKER', 'RIGHT_BLINKER',
+           'GEAR',
+           'WHEELS_MOVING',
+           'BRAKE_ERROR_1', 'BRAKE_ERROR_2',
+           'SEATBELT_DRIVER_LAMP', 'SEATBELT_DRIVER_LATCHED',
+           'BRAKE_PRESSED', 'BRAKE_SWITCH',
+           'CRUISE_BUTTONS',
+           'ESP_DISABLED',
+           'HUD_LEAD',
+           'USER_BRAKE',
+           'STEER_STATUS',
+           'GEAR_SHIFTER',
+           'PEDAL_GAS',
+           'CRUISE_SETTING',
+           'ACC_STATUS',
+
+           'CRUISE_SPEED_PCM',
+           'CRUISE_SPEED_OFFSET',
+
+           'DOOR_OPEN_FL', 'DOOR_OPEN_FR', 'DOOR_OPEN_RL', 'DOOR_OPEN_RR',
+
+           'CAR_GAS',
+           'MAIN_ON',
+           'EPB_STATE',
+           'BRAKE_HOLD_ACTIVE',
+           'INTERCEPTOR_GAS',
+           'INTERCEPTOR_GAS2',
+           'IMPERIAL_UNIT',
+           'MOTOR_TORQUE',
+           ])
+    vls = vls_tuple(
+           self.speed_sensor(speed),
+           self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
+           self.angle_steer, self.angle_steer_rate, 0, 0,#Steer torque sensor
+           0, 0,  # Blinkers
+           self.gear_choice,
+           speed != 0,
+           self.brake_error, self.brake_error,
+           not self.seatbelt, self.seatbelt,  # Seatbelt
+           self.brake_pressed, 0., #Brake pressed, Brake switch
+           cruise_buttons,
+           self.esp_disabled,
+           0,  # HUD lead
+           self.user_brake,
+           self.steer_error,
+           self.gear_shifter,
+           self.pedal_gas,
+           self.cruise_setting,
+           self.acc_status,
+
+           self.v_cruise,
+           0,  # Cruise speed offset
+
+           0, 0, 0, 0,  # Doors
+
+           self.user_gas,
+           self.main_on,
+           0,  # EPB State
+           0,  # Brake hold
+           0,  # Interceptor feedback
+           0,  # Interceptor 2 feedback
+           False,
+           0,
+           )
+
+    # TODO: publish each message at proper frequency
+    can_msgs = []
+    for msg in set(msgs):
+      msg_struct = {}
+      indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
+      for i in indxs:
+        msg_struct[sgs[i]] = getattr(vls, sgs[i])
+
+      if "COUNTER" in honda.get_signals(msg):
+        msg_struct["COUNTER"] = self.frame % 4
+
+      if "COUNTER_PEDAL" in honda.get_signals(msg):
+        msg_struct["COUNTER_PEDAL"] = self.frame % 0xf
+
+      msg = honda.lookup_msg_id(msg)
+      msg_data = honda.encode(msg, msg_struct)
+
+      if "CHECKSUM" in honda.get_signals(msg):
+        msg_data = fix(msg_data, msg)
+
+      if "CHECKSUM_PEDAL" in honda.get_signals(msg):
+        msg_struct["CHECKSUM_PEDAL"] = crc8_pedal(msg_data[:-1])
+        msg_data = honda.encode(msg, msg_struct)
+
+      can_msgs.append([msg, 0, msg_data, 0])
+
+    # add the radar message
+    # TODO: use the DBC
+    if self.frame % 5 == 0:
+      radar_state_msg = b'\x79\x00\x00\x00\x00\x00\x00\x00'
+      radar_msg = to_3_byte(d_rel*16.0) + \
+                  to_3_byte(int(lateral_pos_rel*16.0)&0x3ff) + \
+                  to_3s_byte(int(v_rel*32.0)) + \
+                  b"0f00000"
+
+      radar_msg = binascii.unhexlify(radar_msg)
+      can_msgs.append([0x400, 0, radar_state_msg, 1])
+      can_msgs.append([0x445, 0, radar_msg, 1])
+
+    # add camera msg so controlsd thinks it's alive
+    msg_struct["COUNTER"] = self.frame % 4
+    msg = honda.lookup_msg_id(0xe4)
+    msg_data = honda.encode(msg, msg_struct)
+    msg_data = fix(msg_data, 0xe4)
+    can_msgs.append([0xe4, 0, msg_data, 2])
+
+
+    # Fake sockets that controlsd subscribes to
+    live_parameters = messaging.new_message()
+    live_parameters.init('liveParameters')
+    live_parameters.liveParameters.valid = True
+    live_parameters.liveParameters.sensorValid = True
+    live_parameters.liveParameters.posenetValid = True
+    live_parameters.liveParameters.steerRatio = CP.steerRatio
+    live_parameters.liveParameters.stiffnessFactor = 1.0
+    Plant.live_params.send(live_parameters.to_bytes())
+
+    driver_monitoring = messaging.new_message()
+    driver_monitoring.init('driverMonitoring')
+    driver_monitoring.driverMonitoring.faceOrientation = [0.] * 3
+    driver_monitoring.driverMonitoring.facePosition = [0.] * 2
+    Plant.driverMonitoring.send(driver_monitoring.to_bytes())
+
+    health = messaging.new_message()
+    health.init('health')
+    health.health.controlsAllowed = True
+    Plant.health.send(health.to_bytes())
+
+    thermal = messaging.new_message()
+    thermal.init('thermal')
+    thermal.thermal.freeSpace = 1.
+    thermal.thermal.batteryPercent = 100
+    Plant.thermal.send(thermal.to_bytes())
+
+    # ******** publish a fake model going straight and fake calibration ********
+    # note that this is worst case for MPC, since model will delay long mpc by one time step
+    if publish_model and self.frame % 5 == 0:
+      md = messaging.new_message()
+      cal = messaging.new_message()
+      md.init('model')
+      cal.init('liveCalibration')
+      md.model.frameId = 0
+      for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
+        x.points = [0.0]*50
+        x.prob = 1.0
+        x.std = 1.0
+
+      if self.lead_relevancy:
+        d_rel = np.maximum(0., distance_lead - distance)
+        v_rel = v_lead - speed
+        prob = 1.0
+      else:
+        d_rel = 200.
+        v_rel = 0.
+        prob = 0.0
+
+      md.model.lead.dist = float(d_rel)
+      md.model.lead.prob = prob
+      md.model.lead.relY = 0.0
+      md.model.lead.relYStd = 1.
+      md.model.lead.relVel = float(v_rel)
+      md.model.lead.relVelStd = 1.
+      md.model.lead.relA = 0.0
+      md.model.lead.relAStd = 10.
+      md.model.lead.std = 1.0
+
+      cal.liveCalibration.calStatus = 1
+      cal.liveCalibration.calPerc = 100
+      cal.liveCalibration.rpyCalib = [0.] * 3
+      # fake values?
+      Plant.model.send(md.to_bytes())
+      Plant.cal.send(cal.to_bytes())
+
+    Plant.logcan.send(can_list_to_can_capnp(can_msgs))
+
+    # ******** update prevs ********
+    self.frame += 1
+
+    if self.response_seen:
+      self.rk.monitor_time()
+
+      self.speed = speed
+      self.distance = distance
+      self.distance_lead = distance_lead
+
+      self.speed_prev = speed
+      self.distance_prev = distance
+      self.distance_lead_prev = distance_lead
+
+    else:
+      # Don't advance time when controlsd is not yet ready
+      self.rk.keep_time()
+      self.rk._frame = 0
+
+    return {
+      "distance": distance,
+      "speed": speed,
+      "acceleration": acceleration,
+      "distance_lead": distance_lead,
+      "brake": brake,
+      "gas": gas,
+      "steer_torque": steer_torque,
+      "fcw": fcw,
+      "controls_state_msgs": controls_state_msgs,
+    }
+
+# simple engage in standalone mode
+def plant_thread(rate=100):
+  plant = Plant(rate)
+  while 1:
+    plant.step()
+
+if __name__ == "__main__":
+  plant_thread()

selfdrive/test/longitudinal_maneuvers/plant_ui.py

@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+import pygame # pylint: disable=import-error
+from selfdrive.test.longitudinal_maneuvers.plant import Plant
+from selfdrive.car.honda.values import CruiseButtons
+import numpy as np
+import cereal.messaging as messaging
+import math
+
+CAR_WIDTH = 2.0
+CAR_LENGTH = 4.5
+
+METER = 8
+
+def rot_center(image, angle):
+  """rotate an image while keeping its center and size"""
+  orig_rect = image.get_rect()
+  rot_image = pygame.transform.rotate(image, angle)
+  rot_rect = orig_rect.copy()
+  rot_rect.center = rot_image.get_rect().center
+  rot_image = rot_image.subsurface(rot_rect).copy()
+  return rot_image
+
+def car_w_color(c):
+  car = pygame.Surface((METER*CAR_LENGTH, METER*CAR_LENGTH))  # pylint: disable=too-many-function-args
+  car.set_alpha(0)
+  car.fill((10,10,10))
+  car.set_alpha(128)
+  pygame.draw.rect(car, c, (METER*1.25, 0, METER*CAR_WIDTH, METER*CAR_LENGTH), 1)
+  return car
+
+if __name__ == "__main__":
+  pygame.init()
+  display = pygame.display.set_mode((1000, 1000))
+  pygame.display.set_caption('Plant UI')
+
+  car = car_w_color((255,0,255))
+  leadcar = car_w_color((255,0,0))
+
+  carx, cary, heading = 10.0, 50.0, 0.0
+
+  plant = Plant(100, distance_lead = 40.0)
+
+  control_offset = 2.0
+  control_pts = list(zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10))
+
+  def pt_to_car(pt):
+    x,y = pt
+    x -= carx
+    y -= cary
+    rx = x * math.cos(-heading) + y * -math.sin(-heading)
+    ry = x * math.sin(-heading) + y * math.cos(-heading)
+    return rx, ry
+
+  def pt_from_car(pt):
+    x,y = pt
+    rx = x * math.cos(heading) + y * -math.sin(heading)
+    ry = x * math.sin(heading) + y * math.cos(heading)
+    rx += carx
+    ry += cary
+    return rx, ry
+
+  while 1:
+    if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
+      cruise_buttons = CruiseButtons.RES_ACCEL
+    else:
+      cruise_buttons = 0
+
+    md = messaging.new_message()
+    md.init('model')
+    md.model.frameId = 0
+    for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
+      x.points = [0.0]*50
+      x.prob = 0.0
+      x.std = 1.0
+
+    car_pts = [pt_to_car(pt) for pt in control_pts]
+
+    print(car_pts)
+
+    car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
+    md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
+    md.model.path.prob = 1.0
+    Plant.model.send(md.to_bytes())
+
+    plant.step(cruise_buttons = cruise_buttons, v_lead = 2.0, publish_model = False)
+
+    display.fill((10,10,10))
+
+    carx += plant.speed * plant.ts * math.cos(heading)
+    cary += plant.speed * plant.ts * math.sin(heading)
+
+    # positive steering angle = steering right
+    print(plant.angle_steer)
+    heading += plant.angle_steer * plant.ts
+    print(heading)
+
+    # draw my car
+    display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))
+
+    # draw control pts
+    for x,y in control_pts:
+      pygame.draw.circle(display, (255,255,0), (int(x * METER),int(y * METER)), 2)
+
+    # draw path
+    path_pts = zip(np.arange(0, 50), md.model.path.points)
+
+    for x,y in path_pts:
+      x,y = pt_from_car((x,y))
+      pygame.draw.circle(display, (0,255,0), (int(x * METER),int(y * METER)), 1)
+
+    """
+    # draw lead car
+    dl = (plant.distance_lead - plant.distance) + 4.5
+    lx = carx + dl * math.cos(heading)
+    ly = cary + dl * math.sin(heading)
+
+    display.blit(pygame.transform.rotate(leadcar, 90-math.degrees(heading)), (lx*METER, ly*METER))
+    """
+
+    pygame.display.flip()

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -0,0 +1,377 @@
+#!/usr/bin/env python3
+import os
+os.environ['OLD_CAN'] = '1'
+os.environ['NOCRASH'] = '1'
+
+import time
+import unittest
+import shutil
+import matplotlib
+matplotlib.use('svg')
+
+from selfdrive.config import Conversions as CV
+from selfdrive.car.honda.values import CruiseButtons as CB
+from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+import selfdrive.manager as manager
+from common.params import Params
+
+
+def create_dir(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    pass
+
+
+def check_no_collision(log):
+  return min(log['d_rel']) > 0
+
+def check_fcw(log):
+  return any(log['fcw'])
+
+def check_engaged(log):
+  return log['controls_state_msgs'][-1][-1].active
+
+maneuvers = [
+  Maneuver(
+    'while cruising at 40 mph, change cruise speed to 50mph',
+    duration=30.,
+    initial_speed = 40. * CV.MPH_TO_MS,
+    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
+                             (CB.RES_ACCEL, 10.), (0, 10.1),
+                             (CB.RES_ACCEL, 10.2), (0, 10.3)],
+    checks=[check_engaged],
+  ),
+  Maneuver(
+    'while cruising at 60 mph, change cruise speed to 50mph',
+    duration=30.,
+    initial_speed=60. * CV.MPH_TO_MS,
+    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
+                             (CB.DECEL_SET, 10.), (0, 10.1),
+                             (CB.DECEL_SET, 10.2), (0, 10.3)],
+    checks=[check_engaged],
+  ),
+  Maneuver(
+    'while cruising at 20mph, grade change +10%',
+    duration=25.,
+    initial_speed=20. * CV.MPH_TO_MS,
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    grade_values = [0., 0., 1.0],
+    grade_breakpoints = [0., 10., 11.],
+    checks=[check_engaged],
+  ),
+  Maneuver(
+    'while cruising at 20mph, grade change -10%',
+    duration=25.,
+    initial_speed=20. * CV.MPH_TO_MS,
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    grade_values = [0., 0., -1.0],
+    grade_breakpoints = [0., 10., 11.],
+    checks=[check_engaged],
+  ),
+  Maneuver(
+    'approaching a 40mph car while cruising at 60mph from 100m away',
+    duration=30.,
+    initial_speed = 60. * CV.MPH_TO_MS,
+    lead_relevancy=True,
+    initial_distance_lead=100.,
+    speed_lead_values = [40.*CV.MPH_TO_MS, 40.*CV.MPH_TO_MS],
+    speed_lead_breakpoints = [0., 100.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    'approaching a 0mph car while cruising at 40mph from 150m away',
+    duration=30.,
+    initial_speed = 40. * CV.MPH_TO_MS,
+    lead_relevancy=True,
+    initial_distance_lead=150.,
+    speed_lead_values = [0.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
+    speed_lead_breakpoints = [0., 100.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
+    duration=50.,
+    initial_speed = 20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values = [20., 20., 0.],
+    speed_lead_breakpoints = [0., 15., 35.0],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
+    duration=50.,
+    initial_speed = 20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values = [20., 20., 0.],
+    speed_lead_breakpoints = [0., 15., 25.0],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
+    duration=50.,
+    initial_speed = 20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values = [20., 20., 0.],
+    speed_lead_breakpoints = [0., 15., 21.66],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    checks=[check_engaged, check_fcw],
+  ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 5m/s^2',
+    duration=40.,
+    initial_speed = 20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values = [20., 20., 0.],
+    speed_lead_breakpoints = [0., 15., 19.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    checks=[check_engaged, check_fcw],
+  ),
+  Maneuver(
+    'starting at 0mph, approaching a stopped car 100m away',
+    duration=30.,
+    initial_speed = 0.,
+    lead_relevancy=True,
+    initial_distance_lead=100.,
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "following a car at 60mph, lead accel and decel at 0.5m/s^2 every 2s",
+    duration=25.,
+    initial_speed=30.,
+    lead_relevancy=True,
+    initial_distance_lead=49.,
+    speed_lead_values=[30.,30.,29.,31.,29.,31.,29.],
+    speed_lead_breakpoints=[0., 6., 8., 12.,16.,20.,24.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "following a car at 10mph, stop and go at 1m/s2 lead dece1 and accel",
+    duration=70.,
+    initial_speed=10.,
+    lead_relevancy=True,
+    initial_distance_lead=20.,
+    speed_lead_values=[10., 0., 0., 10., 0.,10.],
+    speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "green light: stopped behind lead car, lead car accelerates at 1.5 m/s",
+    duration=30.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=4.,
+    speed_lead_values=[0,  0 , 45],
+    speed_lead_breakpoints=[0, 10., 40.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9),
+                             (CB.RES_ACCEL, 2.0), (0.0, 2.1),
+                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "stop and go with 1m/s2 lead decel and accel, with full stops",
+    duration=70.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=20.,
+    speed_lead_values=[10., 0., 0., 10., 0., 0.] ,
+    speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                            (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "stop and go with 1.5m/s2 lead accel and 3.3m/s^2 lead decel, with full stops",
+    duration=45.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=20.,
+    speed_lead_values=[10., 0., 0., 10., 0., 0.] ,
+    speed_lead_breakpoints=[10., 13., 26., 33., 36., 45.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "accelerate from 20 while lead vehicle decelerates from 40 to 20 at 1m/s2",
+    duration=30.,
+    initial_speed=10.,
+    lead_relevancy=True,
+    initial_distance_lead=10.,
+    speed_lead_values=[20., 10.],
+    speed_lead_breakpoints=[1., 11.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9),
+                             (CB.RES_ACCEL, 2.0), (0.0, 2.1),
+                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "accelerate from 20 while lead vehicle decelerates from 40 to 0 at 2m/s2",
+    duration=30.,
+    initial_speed=10.,
+    lead_relevancy=True,
+    initial_distance_lead=10.,
+    speed_lead_values=[20., 0.],
+    speed_lead_breakpoints=[1., 11.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5),
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7),
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9),
+                             (CB.RES_ACCEL, 2.0), (0.0, 2.1),
+                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)],
+    checks=[check_engaged, check_no_collision],
+  ),
+  Maneuver(
+    "fcw: traveling at 30 m/s and approaching lead traveling at 20m/s",
+    duration=15.,
+    initial_speed=30.,
+    lead_relevancy=True,
+    initial_distance_lead=100.,
+    speed_lead_values=[20.],
+    speed_lead_breakpoints=[1.],
+    cruise_button_presses = [],
+    checks=[check_fcw],
+  ),
+  Maneuver(
+    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 1m/s2",
+    duration=18.,
+    initial_speed=20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values=[20., 0.],
+    speed_lead_breakpoints=[3., 23.],
+    cruise_button_presses = [],
+    checks=[check_fcw],
+  ),
+  Maneuver(
+    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 3m/s2",
+    duration=13.,
+    initial_speed=20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values=[20., 0.],
+    speed_lead_breakpoints=[3., 9.6],
+    cruise_button_presses = [],
+    checks=[check_fcw],
+  ),
+  Maneuver(
+    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 5m/s2",
+    duration=8.,
+    initial_speed=20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values=[20., 0.],
+    speed_lead_breakpoints=[3., 7.],
+    cruise_button_presses = [],
+    checks=[check_fcw],
+  )
+]
+
+# maneuvers = [maneuvers[-11]]
+# maneuvers = [maneuvers[6]]
+
+def setup_output():
+  output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
+  if not os.path.exists(os.path.join(output_dir, "index.html")):
+    # write test output header
+
+    css_style = """
+    .maneuver_title {
+      font-size: 24px;
+      text-align: center;
+    }
+    .maneuver_graph {
+      width: 100%;
+    }
+    """
+
+    view_html = "<html><head><style>%s</style></head><body><table>" % (css_style,)
+    for i, man in enumerate(maneuvers):
+      view_html += "<tr><td class='maneuver_title' colspan=5><div>%s</div></td></tr><tr>" % (man.title,)
+      for c in ['distance.svg', 'speeds.svg', 'acceleration.svg', 'pedals.svg', 'pid.svg']:
+        view_html += "<td><img class='maneuver_graph' src='%s'/></td>" % (os.path.join("maneuver" + str(i+1).zfill(2), c), )
+      view_html += "</tr>"
+
+    create_dir(output_dir)
+    with open(os.path.join(output_dir, "index.html"), "w") as f:
+      f.write(view_html)
+
+class LongitudinalControl(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    os.environ['NO_CAN_TIMEOUT'] = "1"
+
+    setup_output()
+
+    shutil.rmtree('/data/params', ignore_errors=True)
+    params = Params()
+    params.put("Passive", "1" if os.getenv("PASSIVE") else "0")
+    params.put("OpenpilotEnabledToggle", "1")
+    params.put("CommunityFeaturesToggle", "1")
+
+    manager.gctx = {}
+    manager.prepare_managed_process('radard')
+    manager.prepare_managed_process('controlsd')
+    manager.prepare_managed_process('plannerd')
+
+  @classmethod
+  def tearDownClass(cls):
+    pass
+
+  # hack
+  def test_longitudinal_setup(self):
+    pass
+
+def run_maneuver_worker(k):
+  man = maneuvers[k]
+  output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
+
+  def run(self):
+    print(man.title)
+    manager.start_managed_process('radard')
+    manager.start_managed_process('controlsd')
+    manager.start_managed_process('plannerd')
+
+    plot, valid = man.evaluate()
+    plot.write_plot(output_dir, "maneuver" + str(k+1).zfill(2))
+
+    manager.kill_managed_process('radard')
+    manager.kill_managed_process('controlsd')
+    manager.kill_managed_process('plannerd')
+    time.sleep(5)
+
+    self.assertTrue(valid)
+
+  return run
+
+for k in range(len(maneuvers)):
+  setattr(LongitudinalControl, "test_longitudinal_maneuvers_%d" % (k+1), run_maneuver_worker(k))
+
+if __name__ == "__main__":
+  unittest.main(failfast=True)

selfdrive/test/openpilotci_upload.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+
+
+def upload_file(path, name):
+  from azure.storage.blob import BlockBlobService
+  sas_token = os.getenv("TOKEN", None)
+  if sas_token is None:
+    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+  service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
+  service.create_blob_from_path("openpilotci", name, path)
+  return "https://commadataci.blob.core.windows.net/openpilotci/" + name
+
+if __name__ == "__main__":
+  for f in sys.argv[1:]:
+    name = os.path.basename(f)
+    url = upload_file(f, name)
+    print(url)

selfdrive/test/process_replay/.gitignore

@@ -0,0 +1,2 @@
+*.bz2
+diff.txt

selfdrive/test/process_replay/README.md

@@ -0,0 +1,24 @@
+# process replay
+
+Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment.
+
+If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
+
+Use `test_processes.py` to run the test locally.
+
+Currently the following processes are tested:
+
+* controlsd
+* radard
+* plannerd
+* calibrationd
+
+## Forks
+
+openpilot forks can use this test with their own reference logs
+
+To generate new logs:
+
+`./update-refs.py --no-upload`
+
+Then, check in the new logs using git-lfs. Make sure to also include the updated `ref_commit` file.

selfdrive/test/process_replay/compare_logs.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import bz2
+import os
+import sys
+
+import dictdiffer
+if "CI" in os.environ:
+  tqdm = lambda x: x
+else:
+  from tqdm import tqdm
+
+from tools.lib.logreader import LogReader
+
+def save_log(dest, log_msgs):
+  dat = b""
+  for msg in log_msgs:
+    dat += msg.as_builder().to_bytes()
+  dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+   f.write(dat)
+
+def remove_ignored_fields(msg, ignore):
+  msg = msg.as_builder()
+  for key, val in ignore:
+    attr = msg
+    keys = key.split(".")
+    if msg.which() not in key and len(keys) > 1:
+      continue
+
+    for k in keys[:-1]:
+      try:
+        attr = getattr(msg, k)
+      except:
+        break
+    else:
+      setattr(attr, keys[-1], val)
+  return msg.as_reader()
+
+def compare_logs(log1, log2, ignore=[]):
+  assert len(log1) == len(log2), "logs are not same length: " + str(len(log1)) + " VS " + str(len(log2))
+
+  ignore_fields = [k for k, v in ignore]
+  diff = []
+  for msg1, msg2 in tqdm(zip(log1, log2)):
+    if msg1.which() != msg2.which():
+      print(msg1, msg2)
+      assert False, "msgs not aligned between logs"
+
+    msg1_bytes = remove_ignored_fields(msg1, ignore).as_builder().to_bytes()
+    msg2_bytes = remove_ignored_fields(msg2, ignore).as_builder().to_bytes()
+
+    if msg1_bytes != msg2_bytes:
+      msg1_dict = msg1.to_dict(verbose=True)
+      msg2_dict = msg2.to_dict(verbose=True)
+      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields, tolerance=0)
+      diff.extend(dd)
+  return diff
+
+if __name__ == "__main__":
+  log1 = list(LogReader(sys.argv[1]))
+  log2 = list(LogReader(sys.argv[2]))
+  print(compare_logs(log1, log2, sys.argv[3:]))

selfdrive/test/process_replay/process_replay.py

@@ -0,0 +1,294 @@
+#!/usr/bin/env python3
+import os
+import threading
+import importlib
+import shutil
+
+if "CI" in os.environ:
+  tqdm = lambda x: x
+else:
+  from tqdm import tqdm
+
+from cereal import car, log
+from selfdrive.car.car_helpers import get_car
+import selfdrive.manager as manager
+import cereal.messaging as messaging
+from common.params import Params
+from cereal.services import service_list
+from collections import namedtuple
+
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback'])
+
+class FakeSocket:
+  def __init__(self, wait=True):
+    self.data = []
+    self.wait = wait
+    self.recv_called = threading.Event()
+    self.recv_ready = threading.Event()
+
+  def receive(self, non_blocking=False):
+    if non_blocking:
+      return None
+
+    if self.wait:
+      self.recv_called.set()
+      self.recv_ready.wait()
+      self.recv_ready.clear()
+    return self.data.pop()
+
+  def send(self, data):
+    if self.wait:
+      self.recv_called.wait()
+      self.recv_called.clear()
+
+    self.data.append(data)
+
+    if self.wait:
+      self.recv_ready.set()
+
+  def wait_for_recv(self):
+    self.recv_called.wait()
+
+class DumbSocket:
+  def __init__(self, s=None):
+    if s is not None:
+      dat = messaging.new_message()
+      dat.init(s)
+      self.data = dat.to_bytes()
+
+  def receive(self, non_blocking=False):
+    return self.data
+
+  def send(self, dat):
+    pass
+
+class FakeSubMaster(messaging.SubMaster):
+  def __init__(self, services):
+    super(FakeSubMaster, self).__init__(services, addr=None)
+    self.sock = {s: DumbSocket(s) for s in services}
+    self.update_called = threading.Event()
+    self.update_ready = threading.Event()
+
+    self.wait_on_getitem = False
+
+  def __getitem__(self, s):
+    # hack to know when fingerprinting is done
+    if self.wait_on_getitem:
+      self.update_called.set()
+      self.update_ready.wait()
+      self.update_ready.clear()
+    return self.data[s]
+
+  def update(self, timeout=-1):
+    self.update_called.set()
+    self.update_ready.wait()
+    self.update_ready.clear()
+
+  def update_msgs(self, cur_time, msgs):
+    self.update_called.wait()
+    self.update_called.clear()
+    super(FakeSubMaster, self).update_msgs(cur_time, msgs)
+    self.update_ready.set()
+
+  def wait_for_update(self):
+    self.update_called.wait()
+
+class FakePubMaster(messaging.PubMaster):
+  def __init__(self, services):
+    self.data = {}
+    self.sock = {}
+    self.last_updated = None
+    for s in services:
+      data = messaging.new_message()
+      try:
+        data.init(s)
+      except:
+        data.init(s, 0)
+      self.data[s] = data.as_reader()
+      self.sock[s] = DumbSocket()
+    self.send_called = threading.Event()
+    self.get_called = threading.Event()
+
+  def send(self, s, dat):
+    self.last_updated = s
+    if isinstance(dat, bytes):
+      self.data[s] = log.Event.from_bytes(dat)
+    else:
+      self.data[s] = dat.as_reader()
+    self.send_called.set()
+    self.get_called.wait()
+    self.get_called.clear()
+
+  def wait_for_msg(self):
+    self.send_called.wait()
+    self.send_called.clear()
+    dat = self.data[self.last_updated]
+    self.get_called.set()
+    return dat
+
+def fingerprint(msgs, fsm, can_sock):
+  print("start fingerprinting")
+  fsm.wait_on_getitem = True
+
+  # populate fake socket with data for fingerprinting
+  canmsgs = [msg for msg in msgs if msg.which() == "can"]
+  can_sock.recv_called.wait()
+  can_sock.recv_called.clear()
+  can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]]
+  can_sock.recv_ready.set()
+  can_sock.wait = False
+
+  # we know fingerprinting is done when controlsd sets sm['pathPlan'].sensorValid
+  fsm.update_called.wait()
+  fsm.update_called.clear()
+
+  fsm.wait_on_getitem = False
+  can_sock.wait = True
+  can_sock.data = []
+
+  fsm.update_ready.set()
+  print("finished fingerprinting")
+
+def get_car_params(msgs, fsm, can_sock):
+  can = FakeSocket(wait=False)
+  sendcan = FakeSocket(wait=False)
+
+  canmsgs = [msg for msg in msgs if msg.which() == 'can']
+  for m in canmsgs[:300]:
+    can.send(m.as_builder().to_bytes())
+  _, CP = get_car(can, sendcan)
+  Params().put("CarParams", CP.to_bytes())
+
+def radar_rcv_callback(msg, CP, cfg, fsm):
+  if msg.which() != "can":
+    return [], False
+  elif CP.radarOffCan:
+    return ["radarState", "liveTracks"], True
+
+  radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474],
+                "chrysler": [0x2d4]}.get(CP.carName, None)
+
+  if radar_msgs is None:
+    raise NotImplementedError
+
+  for m in msg.can:
+    if m.src == 1 and m.address in radar_msgs:
+      return ["radarState", "liveTracks"], True
+  return [], False
+
+def calibration_rcv_callback(msg, CP, cfg, fsm):
+  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
+  # should_recv always true to increment frame
+  recv_socks = ["liveCalibration"] if (fsm.frame + 1) % 5 == 0 else []
+  return recv_socks, True
+
+
+CONFIGS = [
+  ProcessConfig(
+    proc_name="controlsd",
+    pub_sub={
+      "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
+      "thermal": [], "health": [], "liveCalibration": [], "driverMonitoring": [], "plan": [], "pathPlan": [], "gpsLocation": [],
+      "model": [],
+    },
+    ignore=[("logMonoTime", 0), ("valid", True), ("controlsState.startMonoTime", 0), ("controlsState.cumLagMs", 0)],
+    init_callback=fingerprint,
+    should_recv_callback=None,
+  ),
+  ProcessConfig(
+    proc_name="radard",
+    pub_sub={
+      "can": ["radarState", "liveTracks"],
+      "liveParameters":  [], "controlsState":  [], "model":  [],
+    },
+    ignore=[("logMonoTime", 0), ("valid", True), ("radarState.cumLagMs", 0)],
+    init_callback=get_car_params,
+    should_recv_callback=radar_rcv_callback,
+  ),
+  ProcessConfig(
+    proc_name="plannerd",
+    pub_sub={
+      "model": ["pathPlan"], "radarState": ["plan"],
+      "carState": [], "controlsState": [], "liveParameters": [],
+    },
+    ignore=[("logMonoTime", 0), ("valid", True), ("plan.processingDelay", 0)],
+    init_callback=get_car_params,
+    should_recv_callback=None,
+  ),
+  ProcessConfig(
+    proc_name="calibrationd",
+    pub_sub={
+      "cameraOdometry": ["liveCalibration"]
+    },
+    ignore=[("logMonoTime", 0), ("valid", True)],
+    init_callback=get_car_params,
+    should_recv_callback=calibration_rcv_callback,
+  ),
+]
+
+def replay_process(cfg, lr):
+  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
+  pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
+
+  fsm = FakeSubMaster(pub_sockets)
+  fpm = FakePubMaster(sub_sockets)
+  args = (fsm, fpm)
+  if 'can' in list(cfg.pub_sub.keys()):
+    can_sock = FakeSocket()
+    args = (fsm, fpm, can_sock)
+
+  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
+  pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
+
+  shutil.rmtree('/data/params', ignore_errors=True)
+  params = Params()
+  params.manager_start()
+  params.put("OpenpilotEnabledToggle", "1")
+  params.put("Passive", "0")
+  params.put("CommunityFeaturesToggle", "1")
+
+  os.environ['NO_RADAR_SLEEP'] = "1"
+  manager.prepare_managed_process(cfg.proc_name)
+  mod = importlib.import_module(manager.managed_processes[cfg.proc_name])
+  thread = threading.Thread(target=mod.main, args=args)
+  thread.daemon = True
+  thread.start()
+
+  if cfg.init_callback is not None:
+    if 'can' not in list(cfg.pub_sub.keys()):
+      can_sock = None
+    cfg.init_callback(all_msgs, fsm, can_sock)
+
+  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+
+  # wait for started process to be ready
+  if 'can' in list(cfg.pub_sub.keys()):
+    can_sock.wait_for_recv()
+  else:
+    fsm.wait_for_update()
+
+  log_msgs, msg_queue = [], []
+  for msg in tqdm(pub_msgs):
+    if cfg.should_recv_callback is not None:
+      recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
+    else:
+      recv_socks = [s for s in cfg.pub_sub[msg.which()] if
+                      (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
+      should_recv = bool(len(recv_socks))
+
+    if msg.which() == 'can':
+      can_sock.send(msg.as_builder().to_bytes())
+    else:
+      msg_queue.append(msg.as_builder())
+
+    if should_recv:
+      fsm.update_msgs(0, msg_queue)
+      msg_queue = []
+
+      recv_cnt = len(recv_socks)
+      while recv_cnt > 0:
+        m = fpm.wait_for_msg()
+        log_msgs.append(m)
+
+        recv_cnt -= m.which() in recv_socks
+  return log_msgs

selfdrive/test/process_replay/ref_commit

@@ -0,0 +1 @@
+a39eb73e5195fe229fd9f0acfe809b7809ccd657

selfdrive/test/process_replay/test_processes.py

@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import os
+import requests
+import sys
+import tempfile
+
+from selfdrive.test.process_replay.compare_logs import compare_logs
+from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
+from tools.lib.logreader import LogReader
+
+segments = [
+  "0375fdf7b1ce594d|2019-06-13--08-32-25--3", # HONDA.ACCORD
+  "99c94dc769b5d96e|2019-08-03--14-19-59--2", # HONDA.CIVIC
+  "cce908f7eb8db67d|2019-08-02--15-09-51--3", # TOYOTA.COROLLA_TSS2
+  "7ad88f53d406b787|2019-07-09--10-18-56--8", # GM.VOLT
+  "704b2230eb5190d6|2019-07-06--19-29-10--0", # HYUNDAI.KIA_SORENTO
+  "b6e1317e1bfbefa6|2019-07-06--04-05-26--5", # CHRYSLER.JEEP_CHEROKEE
+  "7873afaf022d36e2|2019-07-03--18-46-44--0", # SUBARU.IMPREZA
+]
+
+def get_segment(segment_name):
+  route_name, segment_num = segment_name.rsplit("--", 1)
+  rlog_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/%s/rlog.bz2" \
+                % (route_name.replace("|", "/"), segment_num)
+  r = requests.get(rlog_url)
+  if r.status_code != 200:
+    return None
+
+  with tempfile.NamedTemporaryFile(delete=False, suffix=".bz2") as f:
+    f.write(r.content)
+    return f.name
+
+if __name__ == "__main__":
+
+  process_replay_dir = os.path.dirname(os.path.abspath(__file__))
+  ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
+
+  if not os.path.isfile(ref_commit_fn):
+    print("couldn't find reference commit")
+    sys.exit(1)
+
+  ref_commit = open(ref_commit_fn).read().strip()
+  print("***** testing against commit %s *****" % ref_commit)
+
+  results = {}
+  for segment in segments:
+    print("***** testing route segment %s *****\n" % segment)
+
+    results[segment] = {}
+
+    rlog_fn = get_segment(segment)
+
+    if rlog_fn is None:
+      print("failed to get segment %s" % segment)
+      sys.exit(1)
+
+    lr = LogReader(rlog_fn)
+
+    for cfg in CONFIGS:
+      log_msgs = replay_process(cfg, lr)
+
+      log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
+
+      if not os.path.isfile(log_fn):
+        url = "https://commadataci.blob.core.windows.net/openpilotci/"
+        req = requests.get(url + os.path.basename(log_fn))
+        if req.status_code != 200:
+          results[segment][cfg.proc_name] = "failed to download comparison log"
+          continue
+
+        with tempfile.NamedTemporaryFile(suffix=".bz2") as f:
+          f.write(req.content)
+          f.flush()
+          f.seek(0)
+          cmp_log_msgs = list(LogReader(f.name))
+      else:
+        cmp_log_msgs = list(LogReader(log_fn))
+
+      diff = compare_logs(cmp_log_msgs, log_msgs, cfg.ignore)
+      results[segment][cfg.proc_name] = diff
+    os.remove(rlog_fn)
+
+  failed = False
+  with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
+    f.write("***** tested against commit %s *****\n" % ref_commit)
+
+    for segment, result in list(results.items()):
+      f.write("***** differences for segment %s *****\n" % segment)
+      print("***** results for segment %s *****" % segment)
+
+      for proc, diff in list(result.items()):
+        f.write("*** process: %s ***\n" % proc)
+        print("\t%s" % proc)
+
+        if isinstance(diff, str):
+          print("\t\t%s" % diff)
+          failed = True
+        elif len(diff):
+          cnt = {}
+          for d in diff:
+            f.write("\t%s\n" % str(d))
+
+            k = str(d[1])
+            cnt[k] = 1 if k not in cnt else cnt[k] + 1
+
+          for k, v in sorted(cnt.items()):
+            print("\t\t%s: %s" % (k, v))
+          failed = True
+
+    if failed:
+      print("TEST FAILED")
+    else:
+      print("TEST SUCCEEDED")
+
+  print("\n\nTo update the reference logs for this test run:")
+  print("./update_refs.py")
+
+  sys.exit(int(failed))

selfdrive/test/process_replay/update_refs.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import os
+import sys
+
+from selfdrive.test.openpilotci_upload import upload_file
+from selfdrive.test.process_replay.compare_logs import save_log
+from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
+from selfdrive.test.process_replay.test_processes import segments, get_segment
+from selfdrive.version import get_git_commit
+from tools.lib.logreader import LogReader
+
+if __name__ == "__main__":
+
+  no_upload = "--no-upload" in sys.argv
+
+  process_replay_dir = os.path.dirname(os.path.abspath(__file__))
+  ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
+
+  ref_commit = get_git_commit()
+  with open(ref_commit_fn, "w") as f:
+    f.write(ref_commit)
+
+  for segment in segments:
+    rlog_fn = get_segment(segment)
+
+    if rlog_fn is None:
+      print("failed to get segment %s" % segment)
+      sys.exit(1)
+
+    lr = LogReader(rlog_fn)
+
+    for cfg in CONFIGS:
+      log_msgs = replay_process(cfg, lr)
+      log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
+      save_log(log_fn, log_msgs)
+
+      if not no_upload:
+        upload_file(log_fn, os.path.basename(log_fn))
+        os.remove(log_fn)
+    os.remove(rlog_fn)
+
+  print("done")

selfdrive/test/sounds/test_sound_stability.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+import time
+import datetime
+import random
+
+from common.basedir import BASEDIR
+from selfdrive import messaging
+
+if __name__ == "__main__":
+
+  sound_dir = os.path.join(BASEDIR, "selfdrive/assets/sounds")
+  sound_files = [f for f in os.listdir(sound_dir) if f.endswith(".wav")]
+  play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound")
+
+  print("disabling charging")
+  os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
+
+  os.environ["LD_LIBRARY_PATH"] = ""
+
+  sm = messaging.SubMaster(["thermal"])
+
+  FNULL = open(os.devnull, "w")
+  start_time = time.time()
+  while True:
+    volume = 15
+
+    n = random.randint(5, 10)
+    procs = []
+    for _ in range(n):
+      sound = random.choice(sound_files)
+      p = subprocess.Popen([play_sound, os.path.join(sound_dir, sound), str(volume)], stdout=FNULL, stderr=FNULL)
+      procs.append(p)
+      time.sleep(random.uniform(0, 0.75))
+
+    time.sleep(random.randint(0, 5))
+    for p in procs:
+      p.terminate()
+
+    sm.update(0)
+    s = time.time() - start_time
+    hhmmss = str(datetime.timedelta(seconds=s)).split(".")[0]
+    print("test duration:", hhmmss)
+    print("\tbattery percent", sm["thermal"].batteryPercent)

selfdrive/test/sounds/test_sounds.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+import os
+import subprocess
+import time
+
+from common.basedir import BASEDIR
+
+if __name__ == "__main__":
+
+  sound_dir = os.path.join(BASEDIR, "selfdrive/assets/sounds")
+  sound_files = [f for f in os.listdir(sound_dir) if f.endswith(".wav")]
+
+  play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound")
+
+  os.environ["LD_LIBRARY_PATH"] = ""
+
+  while True:
+    for volume in range(10, 16):
+      for sound in sound_files:
+        p = subprocess.Popen([play_sound, os.path.join(sound_dir, sound), str(volume)])
+        time.sleep(1)
+        p.terminate()

selfdrive/test/test_car_models.py

@@ -0,0 +1,570 @@
+#!/usr/bin/env python3
+import shutil
+import time
+import os
+import sys
+import signal
+import subprocess
+import requests
+from cereal import car
+
+import selfdrive.manager as manager
+import cereal.messaging as messaging
+from common.params import Params
+from common.basedir import BASEDIR
+from selfdrive.car.fingerprints import all_known_cars
+from selfdrive.car.honda.values import CAR as HONDA
+from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.car.gm.values import CAR as GM
+from selfdrive.car.ford.values import CAR as FORD
+from selfdrive.car.hyundai.values import CAR as HYUNDAI
+from selfdrive.car.chrysler.values import CAR as CHRYSLER
+from selfdrive.car.subaru.values import CAR as SUBARU
+from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
+from selfdrive.car.mock.values import CAR as MOCK
+
+
+os.environ['NOCRASH'] = '1'
+
+
+def wait_for_socket(name, timeout=10.0):
+  socket = messaging.sub_sock(name)
+  cur_time = time.time()
+
+  r = None
+  while time.time() - cur_time < timeout:
+    print("waiting for %s" % name)
+    r = socket.receive(non_blocking=True)
+    if r is not None:
+      break
+    time.sleep(0.5)
+
+  return r
+
+def get_route_logs(route_name):
+  for log_f in ["rlog.bz2", "fcamera.hevc"]:
+    log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), log_f))
+
+    if not os.path.isfile(log_path):
+      log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), log_f)
+      r = requests.get(log_url)
+
+      if r.status_code == 200:
+        with open(log_path, "wb") as f:
+          f.write(r.content)
+      else:
+        print("failed to download test log %s" % route_name)
+        sys.exit(-1)
+
+routes = {
+
+  "975b26878285314d|2018-12-25--14-42-13": {
+    'carFingerprint': CHRYSLER.PACIFICA_2018_HYBRID,
+    'enableCamera': True,
+  },
+  "b0c9d2329ad1606b|2019-01-06--10-11-23": {
+    'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
+    'enableCamera': True,
+  },
+  "0607d2516fc2148f|2019-02-13--23-03-16": {
+    'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
+    'enableCamera': True,
+  },
+  # This pacifica was removed because the fingerprint seemed from a Volt
+  #"9f7a7e50a51fb9db|2019-01-03--14-05-01": {
+  #  'carFingerprint': CHRYSLER.PACIFICA_2018,
+  #  'enableCamera': True,
+  #},
+  "9f7a7e50a51fb9db|2019-01-17--18-34-21": {
+    'carFingerprint': CHRYSLER.JEEP_CHEROKEE,
+    'enableCamera': True,
+  },
+  "192a598e34926b1e|2019-04-04--13-27-39": {
+    'carFingerprint': CHRYSLER.JEEP_CHEROKEE_2019,
+    'enableCamera': True,
+  },
+  "f1b4c567731f4a1b|2018-04-18--11-29-37": {
+    'carFingerprint': FORD.FUSION,
+    'enableCamera': False,
+  },
+  "f1b4c567731f4a1b|2018-04-30--10-15-35": {
+    'carFingerprint': FORD.FUSION,
+    'enableCamera': True,
+  },
+  "7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
+    'carFingerprint': GM.CADILLAC_CT6,
+    'enableCamera': True,
+  },
+  "265007255e794bce|2018-11-24--22-08-31": {
+    'carFingerprint': GM.CADILLAC_ATS,
+    'enableCamera': True,
+  },
+  "c950e28c26b5b168|2018-05-30--22-03-41": {
+    'carFingerprint': GM.VOLT,
+    'enableCamera': True,
+  },
+  # TODO: use another route that has radar data at start
+  "aadda448b49c99ad|2018-10-25--17-16-22": {
+    'carFingerprint': GM.MALIBU,
+    'enableCamera': True,
+  },
+  "49c73650e65ff465|2018-11-19--16-58-04": {
+    'carFingerprint': GM.HOLDEN_ASTRA,
+    'enableCamera': True,
+  },
+  "7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
+    'carFingerprint': GM.ACADIA,
+    'enableCamera': True,
+  },
+  "aa20e335f61ba898|2018-12-17--21-10-37": {
+    'carFingerprint': GM.BUICK_REGAL,
+    'enableCamera': False,
+  },
+  "aa20e335f61ba898|2019-02-05--16-59-04": {
+    'carFingerprint': GM.BUICK_REGAL,
+    'enableCamera': True,
+  },
+  "7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
+    'carFingerprint': HONDA.CIVIC,
+    'enableCamera': True,
+  },
+  "c9d60e5e02c04c5c|2018-01-08--16-01-49": {
+    'carFingerprint': HONDA.CRV,
+    'enableCamera': True,
+  },
+  "1851183c395ef471|2018-05-31--18-07-21": {
+    'carFingerprint': HONDA.CRV_5G,
+    'enableCamera': True,
+  },
+  "232585b7784c1af4|2019-04-08--14-12-14": {
+    'carFingerprint': HONDA.CRV_HYBRID,
+    'enableCamera': True,
+  },
+  "99e3eaed7396619e|2019-08-13--15-07-03": {
+    'carFingerprint': HONDA.FIT,
+    'enableCamera': True,
+  },
+  "2ac95059f70d76eb|2018-02-05--15-03-29": {
+    'carFingerprint': HONDA.ACURA_ILX,
+    'enableCamera': True,
+  },
+  "21aa231dee2a68bd|2018-01-30--04-54-41": {
+    'carFingerprint': HONDA.ODYSSEY,
+    'enableCamera': True,
+  },
+  "81722949a62ea724|2019-03-29--15-51-26": {
+    'carFingerprint': HONDA.ODYSSEY_CHN,
+    'enableCamera': False,
+  },
+  "81722949a62ea724|2019-04-06--15-19-25": {
+    'carFingerprint': HONDA.ODYSSEY_CHN,
+    'enableCamera': True,
+  },
+  "5a2cfe4bb362af9e|2018-02-02--23-41-07": {
+    'carFingerprint': HONDA.ACURA_RDX,
+    'enableCamera': True,
+  },
+  "3e9592a1c78a3d63|2018-02-08--20-28-24": {
+    'carFingerprint': HONDA.PILOT,
+    'enableCamera': True,
+  },
+  "34a84d2b765df688|2018-08-28--12-41-00": {
+    'carFingerprint': HONDA.PILOT_2019,
+    'enableCamera': True,
+  },
+  "900ad17e536c3dc7|2018-04-12--22-02-36": {
+    'carFingerprint': HONDA.RIDGELINE,
+    'enableCamera': True,
+  },
+  "f1b4c567731f4a1b|2018-06-06--14-43-46": {
+    'carFingerprint': HONDA.ACCORD,
+    'enableCamera': True,
+  },
+  "1582e1dc57175194|2018-08-15--07-46-07": {
+    'carFingerprint': HONDA.ACCORD_15,
+    'enableCamera': True,
+  },
+  # TODO: This doesnt fingerprint because the fingerprint overlaps with the Insight
+  # "690c4c9f9f2354c7|2018-09-15--17-36-05": {
+  #   'carFingerprint': HONDA.ACCORDH,
+  #   'enableCamera': True,
+  # },
+  "1632088eda5e6c4d|2018-06-07--08-03-18": {
+    'carFingerprint': HONDA.CIVIC_BOSCH,
+    'enableCamera': True,
+  },
+  #"18971a99f3f2b385|2018-11-14--19-09-31": {
+  #  'carFingerprint': HONDA.INSIGHT,
+  #  'enableCamera': True,
+  #},
+  "38bfd238edecbcd7|2018-08-22--09-45-44": {
+    'carFingerprint': HYUNDAI.SANTA_FE,
+    'enableCamera': False,
+  },
+  "38bfd238edecbcd7|2018-08-29--22-02-15": {
+    'carFingerprint': HYUNDAI.SANTA_FE,
+    'enableCamera': True,
+  },
+  "a893a80e5c5f72c8|2019-01-14--20-02-59": {
+    'carFingerprint': HYUNDAI.GENESIS,
+    'enableCamera': True,
+  },
+  "9d5fb4f0baa1b3e1|2019-01-14--17-45-59": {
+    'carFingerprint': HYUNDAI.KIA_SORENTO,
+    'enableCamera': True,
+  },
+  "215cd70e9c349266|2018-11-25--22-22-12": {
+    'carFingerprint': HYUNDAI.KIA_STINGER,
+    'enableCamera': True,
+  },
+  "31390e3eb6f7c29a|2019-01-23--08-56-00": {
+    'carFingerprint': HYUNDAI.KIA_OPTIMA,
+    'enableCamera': True,
+  },
+  "53ac3251e03f95d7|2019-01-10--13-43-32": {
+    'carFingerprint': HYUNDAI.ELANTRA,
+    'enableCamera': True,
+  },
+  "f7b6be73e3dfd36c|2019-05-12--18-07-16": {
+    'carFingerprint': TOYOTA.AVALON,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "f7b6be73e3dfd36c|2019-05-11--22-34-20": {
+    'carFingerprint': TOYOTA.AVALON,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "b0f5a01cf604185c|2018-01-26--00-54-32": {
+    'carFingerprint': TOYOTA.COROLLA,
+    'enableCamera': True,
+    'enableDsu': True,
+  },
+  "b0f5a01cf604185c|2018-01-26--10-54-38": {
+    'carFingerprint': TOYOTA.COROLLA,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "b0f5a01cf604185c|2018-01-26--10-59-31": {
+    'carFingerprint': TOYOTA.COROLLA,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "5f5afb36036506e4|2019-05-14--02-09-54": {
+    'carFingerprint': TOYOTA.COROLLA_TSS2,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "5ceff72287a5c86c|2019-10-19--10-59-02": {
+    'carFingerprint': TOYOTA.COROLLAH_TSS2,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "56fb1c86a9a86404|2017-11-10--10-18-43": {
+    'carFingerprint': TOYOTA.PRIUS,
+    'enableCamera': True,
+    'enableDsu': True,
+  },
+  "b0f5a01cf604185c|2017-12-18--20-32-32": {
+    'carFingerprint': TOYOTA.RAV4,
+    'enableCamera': True,
+    'enableDsu': True,
+    'enableGasInterceptor': False,
+  },
+  "b0c9d2329ad1606b|2019-04-02--13-24-43": {
+    'carFingerprint': TOYOTA.RAV4,
+    'enableCamera': True,
+    'enableDsu': True,
+    'enableGasInterceptor': True,
+  },
+  "cdf2f7de565d40ae|2019-04-25--03-53-41": {
+    'carFingerprint': TOYOTA.RAV4_TSS2,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "e6a24be49a6cd46e|2019-10-29--10-52-42": {
+    'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "f49e8041283f2939|2019-05-29--13-48-33": {
+    'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "f49e8041283f2939|2019-05-30--11-51-51": {
+    'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "b0f5a01cf604185c|2018-02-01--21-12-28": {
+    'carFingerprint': TOYOTA.LEXUS_RXH,
+    'enableCamera': True,
+    'enableDsu': True,
+  },
+  #FIXME: This works sometimes locally, but never in CI. Timing issue?
+  #"b0f5a01cf604185c|2018-01-31--20-11-39": {
+  #  'carFingerprint': TOYOTA.LEXUS_RXH,
+  #  'enableCamera': False,
+  #  'enableDsu': False,
+  #},
+  "8ae193ceb56a0efe|2018-06-18--20-07-32": {
+    'carFingerprint': TOYOTA.RAV4H,
+    'enableCamera': True,
+    'enableDsu': True,
+  },
+  "fd10b9a107bb2e49|2018-07-24--16-32-42": {
+    'carFingerprint': TOYOTA.CHR,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "fd10b9a107bb2e49|2018-07-24--20-32-08": {
+    'carFingerprint': TOYOTA.CHR,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "b4c18bf13d5955da|2018-07-29--13-39-46": {
+    'carFingerprint': TOYOTA.CHRH,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "d2d8152227f7cb82|2018-07-25--13-40-56": {
+    'carFingerprint': TOYOTA.CAMRY,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "fbd011384db5e669|2018-07-26--20-51-48": {
+    'carFingerprint': TOYOTA.CAMRYH,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  # TODO: This replay has no good model/video
+  # "c9fa2dd0f76caf23|2018-02-10--13-40-28": {
+  #   'carFingerprint': TOYOTA.CAMRYH,
+  #   'enableCamera': False,
+  #   'enableDsu': False,
+  # },
+  # TODO: missingsome combos for highlander
+  "aa659debdd1a7b54|2018-08-31--11-12-01": {
+    'carFingerprint': TOYOTA.HIGHLANDER,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "362d23d4d5bea2fa|2018-09-02--17-03-55": {
+    'carFingerprint': TOYOTA.HIGHLANDERH,
+    'enableCamera': True,
+    'enableDsu': True,
+  },
+  "eb6acd681135480d|2019-06-20--20-00-00": {
+    'carFingerprint': TOYOTA.SIENNA,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "362d23d4d5bea2fa|2018-08-10--13-31-40": {
+    'carFingerprint': TOYOTA.HIGHLANDERH,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "2e07163a1ba9a780|2019-08-25--13-15-13": {
+    'carFingerprint': TOYOTA.LEXUS_IS,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "2e07163a1ba9a780|2019-08-29--09-35-42": {
+    'carFingerprint': TOYOTA.LEXUS_IS,
+    'enableCamera': False,
+    'enableDsu': False,
+  },
+  "1dd19ceed0ee2b48|2018-12-22--17-36-49": {
+    'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
+    'enableCamera': True,
+    'enableDsu': False,
+  },
+  "76b83eb0245de90e|2019-10-20--15-42-29": {
+    'carFingerprint': VOLKSWAGEN.GOLF,
+    'enableCamera': True,
+  },
+  "791340bc01ed993d|2019-03-10--16-28-08": {
+    'carFingerprint': SUBARU.IMPREZA,
+    'enableCamera': True,
+  },
+  # Tesla route, should result in mock car
+  "07cb8a788c31f645|2018-06-17--18-50-29": {
+    'carFingerprint': MOCK.MOCK,
+  },
+  ## Route with no can data, should result in mock car. This is not supported anymore
+  #"bfa17080b080f3ec|2018-06-28--23-27-47": {
+  #  'carFingerprint': MOCK.MOCK,
+  #},
+}
+
+passive_routes = [
+  "07cb8a788c31f645|2018-06-17--18-50-29",
+  #"bfa17080b080f3ec|2018-06-28--23-27-47",
+]
+
+forced_dashcam_routes = [
+  # Ford fusion
+  "f1b4c567731f4a1b|2018-04-18--11-29-37",
+  "f1b4c567731f4a1b|2018-04-30--10-15-35",
+]
+
+# TODO: replace all these with public routes
+# TODO: add routes for untested cars: HONDA ACCORD 2018 HYBRID TOURING and CHRYSLER PACIFICA 2018
+non_public_routes = [
+  "0607d2516fc2148f|2019-02-13--23-03-16",  # CHRYSLER PACIFICA HYBRID 2019
+  "3e9592a1c78a3d63|2018-02-08--20-28-24",  # HONDA PILOT 2017 TOURING
+  "aa20e335f61ba898|2019-02-05--16-59-04",  # BUICK REGAL ESSENCE 2018
+  "1851183c395ef471|2018-05-31--18-07-21",  # HONDA CR-V 2017 EX
+  "9d5fb4f0baa1b3e1|2019-01-14--17-45-59",  # KIA SORENTO GT LINE 2018
+  "b4c18bf13d5955da|2018-07-29--13-39-46",  # TOYOTA C-HR HYBRID 2018
+  "5a2cfe4bb362af9e|2018-02-02--23-41-07",  # ACURA RDX 2018 ACURAWATCH PLUS
+  "362d23d4d5bea2fa|2018-08-10--13-31-40",  # TOYOTA HIGHLANDER HYBRID 2018
+  "aa20e335f61ba898|2018-12-17--21-10-37",  # BUICK REGAL ESSENCE 2018
+  "215cd70e9c349266|2018-11-25--22-22-12",  # KIA STINGER GT2 2018
+  "192a598e34926b1e|2019-04-04--13-27-39",  # JEEP GRAND CHEROKEE 2019
+  "34a84d2b765df688|2018-08-28--12-41-00",  # HONDA PILOT 2019 ELITE
+  "b0c9d2329ad1606b|2019-01-06--10-11-23",  # CHRYSLER PACIFICA HYBRID 2017
+  "31390e3eb6f7c29a|2019-01-23--08-56-00",  # KIA OPTIMA SX 2019
+  "fd10b9a107bb2e49|2018-07-24--16-32-42",  # TOYOTA C-HR 2018
+  "9f7a7e50a51fb9db|2019-01-17--18-34-21",  # JEEP GRAND CHEROKEE V6 2018
+  "aadda448b49c99ad|2018-10-25--17-16-22",  # CHEVROLET MALIBU PREMIER 2017
+  "362d23d4d5bea2fa|2018-09-02--17-03-55",  # TOYOTA HIGHLANDER HYBRID 2018
+  "1582e1dc57175194|2018-08-15--07-46-07",  # HONDA ACCORD 2018 LX 1.5T
+  "fd10b9a107bb2e49|2018-07-24--20-32-08",  # TOYOTA C-HR 2018
+  "265007255e794bce|2018-11-24--22-08-31",  # CADILLAC ATS Premium Performance 2018
+  "53ac3251e03f95d7|2019-01-10--13-43-32",  # HYUNDAI ELANTRA LIMITED ULTIMATE 2017
+  "21aa231dee2a68bd|2018-01-30--04-54-41",  # HONDA ODYSSEY 2018 EX-L
+  "900ad17e536c3dc7|2018-04-12--22-02-36",  # HONDA RIDGELINE 2017 BLACK EDITION
+  "975b26878285314d|2018-12-25--14-42-13",  # CHRYSLER PACIFICA HYBRID 2018
+  "8ae193ceb56a0efe|2018-06-18--20-07-32",  # TOYOTA RAV4 HYBRID 2017
+  "a893a80e5c5f72c8|2019-01-14--20-02-59",  # HYUNDAI GENESIS 2018
+  "49c73650e65ff465|2018-11-19--16-58-04",  # HOLDEN ASTRA RS-V BK 2017
+  "d2d8152227f7cb82|2018-07-25--13-40-56",  # TOYOTA CAMRY 2018
+  "07cb8a788c31f645|2018-06-17--18-50-29",  # mock
+  "c9d60e5e02c04c5c|2018-01-08--16-01-49",  # HONDA CR-V 2016 TOURING
+  "1632088eda5e6c4d|2018-06-07--08-03-18",  # HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019
+  "fbd011384db5e669|2018-07-26--20-51-48",  # TOYOTA CAMRY HYBRID 2018
+]
+
+if __name__ == "__main__":
+
+  # TODO: add routes for untested cars and fail test if we have an untested car
+  tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
+  for car_model in all_known_cars():
+    if car_model not in tested_cars:
+      print("***** WARNING: %s not tested *****" % car_model)
+
+  results = {}
+  for route, checks in routes.items():
+    if route not in non_public_routes:
+      get_route_logs(route)
+    elif "UNLOGGER_PATH" not in os.environ:
+      continue
+
+    shutil.rmtree('/data/params')
+    manager.gctx = {}
+    params = Params()
+    params.manager_start()
+    params.put("OpenpilotEnabledToggle", "1")
+    params.put("CommunityFeaturesToggle", "1")
+
+    if route in passive_routes:
+      params.put("Passive", "1")
+    else:
+      params.put("Passive", "0")
+
+    print("testing ", route, " ", checks['carFingerprint'])
+    print("Preparing processes")
+    manager.prepare_managed_process("radard")
+    manager.prepare_managed_process("controlsd")
+    manager.prepare_managed_process("plannerd")
+    print("Starting processes")
+    manager.start_managed_process("radard")
+    manager.start_managed_process("controlsd")
+    manager.start_managed_process("plannerd")
+    time.sleep(2)
+
+    # Start unlogger
+    print("Start unlogger")
+    if route in non_public_routes:
+      unlogger_cmd = [os.path.join(BASEDIR, os.environ['UNLOGGER_PATH']), '%s' % route, '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive']
+    else:
+      unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), '%s' % route, '/tmp', '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive']
+    unlogger = subprocess.Popen(unlogger_cmd, preexec_fn=os.setsid)
+
+    print("Check sockets")
+    controls_state_result = wait_for_socket('controlsState', timeout=30)
+
+    has_camera = checks.get('enableCamera', False)
+    if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
+      controls_state_result = controls_state_result and wait_for_socket('sendcan', timeout=30)
+
+    radarstate_result = wait_for_socket('radarState', timeout=30)
+    plan_result = wait_for_socket('plan', timeout=30)
+
+    if route not in passive_routes:  # TODO The passive routes have very flaky models
+      path_plan_result = wait_for_socket('pathPlan', timeout=30)
+    else:
+      path_plan_result = True
+
+    carstate_result = wait_for_socket('carState', timeout=30)
+
+    print("Check if everything is running")
+    running = manager.get_running()
+    controlsd_running = running['controlsd'].is_alive()
+    radard_running = running['radard'].is_alive()
+    plannerd_running = running['plannerd'].is_alive()
+
+    manager.kill_managed_process("controlsd")
+    manager.kill_managed_process("radard")
+    manager.kill_managed_process("plannerd")
+    os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
+
+    sockets_ok = all([
+      controls_state_result, radarstate_result, plan_result, path_plan_result, carstate_result,
+      controlsd_running, radard_running, plannerd_running
+    ])
+    params_ok = True
+    failures = []
+
+    if not controlsd_running:
+      failures.append('controlsd')
+    if not radard_running:
+      failures.append('radard')
+    if not radarstate_result:
+      failures.append('radarState')
+    if not controls_state_result:
+      failures.append('controlsState')
+    if not plan_result:
+      failures.append('plan')
+    if not path_plan_result:
+      failures.append('pathPlan')
+
+    try:
+      car_params = car.CarParams.from_bytes(params.get("CarParams"))
+      for k, v in checks.items():
+        if not v == getattr(car_params, k):
+          params_ok = False
+          failures.append(k)
+    except Exception:
+      params_ok = False
+
+    if sockets_ok and params_ok:
+      print("Success")
+      results[route] = True, failures
+    else:
+      print("Failure")
+      results[route] = False, failures
+      break
+
+    time.sleep(2)
+
+  for route in results:
+    print(results[route])
+  Params().put("Passive", "0")   # put back not passive to not leave the params in an unintended state
+  if not all(passed for passed, _ in results.values()):
+    print("TEST FAILED")
+    sys.exit(1)
+  else:
+    print("TEST SUCCESSFUL")

selfdrive/test/test_eon_fan.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+
+import sys
+import time
+from selfdrive.thermald import setup_eon_fan, set_eon_fan
+
+if __name__ == "__main__":
+  val = 0
+  setup_eon_fan()
+
+  if len(sys.argv) > 1:
+    set_eon_fan(int(sys.argv[1]))
+    exit(0)
+
+  while True:
+    sys.stderr.write("setting fan to %d\n" % val)
+    set_eon_fan(val)
+    time.sleep(2)
+    val += 1
+    val %= 4
+
+

selfdrive/test/test_fingerprints.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import os
+import sys
+from common.basedir import BASEDIR
+
+# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can)
+# (addr, len)
+CAN_IGNITION_MSGS = {
+  'gm': [(0x1F1, 8), (0x160, 5)],
+  'tesla' : [(0x348, 8)],
+}
+
+def _get_fingerprints():
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car names that which we have a fingerprint dict for
+  # - values are dicts of fingeprints for each trim
+  fingerprints = {}
+  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
+    car_name = car_folder.split('/')[-1]
+    try:
+      fingerprints[car_name] = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS']).FINGERPRINTS
+    except (ImportError, IOError, AttributeError):
+      pass
+
+  return fingerprints
+
+
+def check_fingerprint_consistency(f1, f2):
+  # return false if it finds a fingerprint fully included in another
+  # max message worth checking is 1800, as above that they usually come too infrequently and not
+  # usable for fingerprinting
+
+  max_msg = 1800
+
+  is_f1_in_f2 = True
+  for k in f1:
+    if (k not in f2 or f1[k] != f2[k]) and k < max_msg:
+       is_f1_in_f2 = False
+
+  is_f2_in_f1 = True
+  for k in f2:
+    if (k not in f1 or f2[k] != f1[k]) and k < max_msg:
+       is_f2_in_f1 = False
+
+  return not is_f1_in_f2 and not is_f2_in_f1
+
+
+def check_can_ignition_conflicts(fingerprints, brands):
+  # loops through all the fingerprints and exits if CAN ignition dedicated messages
+  # are found in unexpected fingerprints
+
+  for brand_can, msgs_can in CAN_IGNITION_MSGS.items():
+    for i, f in enumerate(fingerprints):
+      for msg_can in msgs_can:
+        if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]:
+          print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i]))
+          print("TEST FAILED")
+          sys.exit(1)
+
+
+fingerprints = _get_fingerprints()
+
+fingerprints_flat = []
+car_names = []
+brand_names = []
+for brand in fingerprints:
+  for car in fingerprints[brand]:
+    fingerprints_flat += fingerprints[brand][car]
+    for i in range(len(fingerprints[brand][car])):
+      car_names.append(car)
+      brand_names.append(brand)
+
+# first check if CAN ignition specific messages are unexpectedly included in other fingerprints
+check_can_ignition_conflicts(fingerprints_flat, brand_names)
+
+valid = True
+for idx1, f1 in enumerate(fingerprints_flat):
+  for idx2, f2 in enumerate(fingerprints_flat):
+    if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
+      valid = False
+      print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
+      print("")
+      print(', '.join("%d: %d" % v for v in sorted(f1.items())))
+      print("")
+      print(', '.join("%d: %d" % v for v in sorted(f2.items())))
+      print("")
+
+print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
+if not valid or len(fingerprints_flat) == 0:
+  print("TEST FAILED")
+  sys.exit(1)
+else:
+  print("TEST SUCESSFUL")

selfdrive/test/test_leeco_alt_fan.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+import time
+from smbus2 import SMBus
+
+def setup_leon_fan():
+  bus = SMBus(7, force=True)
+
+  # http://www.ti.com/lit/ds/symlink/tusb320.pdf
+  for i in [0,1,2,3]:
+    print("FAN SPEED", i)
+    if i == 0:
+      ret = bus.write_i2c_block_data(0x67, 0xa, [0])
+    else:
+      ret = bus.write_i2c_block_data(0x67, 0xa, [0x20])
+      ret = bus.write_i2c_block_data(0x67, 0x8, [(i-1)<<6])
+    time.sleep(1)
+
+  bus.close()
+
+setup_leon_fan()
+

selfdrive/test/test_leeco_fan.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+import time
+from smbus2 import SMBus
+
+def setup_leon_fan():
+  bus = SMBus(7, force=True)
+
+  # https://www.nxp.com/docs/en/data-sheet/PTN5150.pdf
+  j = 0
+  for i in [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10]:
+    print("FAN SPEED", j)
+    ret = bus.read_i2c_block_data(0x3d, 0, 4)
+    print(ret)
+    ret = bus.write_i2c_block_data(0x3d, 0, [i])
+    time.sleep(1)
+    ret = bus.read_i2c_block_data(0x3d, 0, 4)
+    print(ret)
+    j += 1
+
+  bus.close()
+
+setup_leon_fan()
+

selfdrive/test/test_openpilot.py

@@ -0,0 +1,245 @@
+import os
+os.environ['FAKEUPLOAD'] = "1"
+
+from common.apk import update_apks, start_frame, pm_apply_packages, android_packages
+from common.params import Params
+from common.testing import phone_only
+from selfdrive.manager import manager_init, manager_prepare
+from selfdrive.manager import start_managed_process, kill_managed_process, get_running
+from selfdrive.manager import start_daemon_process
+from functools import wraps
+import json
+import requests
+import signal
+import subprocess
+import time
+
+DID_INIT = False
+
+# must run first
+@phone_only
+def test_manager_prepare():
+  global DID_INIT
+  manager_init()
+  manager_prepare()
+  DID_INIT = True
+
+def with_processes(processes):
+  def wrapper(func):
+    @wraps(func)
+    def wrap():
+      if not DID_INIT:
+        test_manager_prepare()
+
+      # start and assert started
+      [start_managed_process(p) for p in processes]
+      assert all(get_running()[name].exitcode is None for name in processes)
+
+      # call the function
+      try:
+        func()
+        # assert processes are still started
+        assert all(get_running()[name].exitcode is None for name in processes)
+      finally:
+        # kill and assert all stopped
+        [kill_managed_process(p) for p in processes]
+        assert len(get_running()) == 0
+    return wrap
+  return wrapper
+
+def with_apks():
+  def wrapper(func):
+    @wraps(func)
+    def wrap():
+      if not DID_INIT:
+        test_manager_prepare()
+
+      update_apks()
+      pm_apply_packages('enable')
+      start_frame()
+
+      func()
+
+      try:
+        for package in android_packages:
+          apk_is_running = (subprocess.call(["pidof", package]) == 0)
+          assert apk_is_running, package
+      finally:
+        pm_apply_packages('disable')
+        for package in android_packages:
+          apk_is_not_running = (subprocess.call(["pidof", package]) == 1)
+          assert apk_is_not_running, package
+    return wrap
+  return wrapper
+
+#@phone_only
+#@with_processes(['controlsd', 'radard'])
+#def test_controls():
+#  from selfdrive.test.longitudinal_maneuvers.plant import Plant
+#
+#  # start the fake car for 2 seconds
+#  plant = Plant(100)
+#  for i in range(200):
+#    if plant.rk.frame >= 20 and plant.rk.frame <= 25:
+#      cruise_buttons = CruiseButtons.RES_ACCEL
+#      # rolling forward
+#      assert plant.speed > 0
+#    else:
+#      cruise_buttons = 0
+#    plant.step(cruise_buttons = cruise_buttons)
+#  plant.close()
+#
+#  # assert that we stopped
+#  assert plant.speed == 0.0
+
+@phone_only
+@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
+def test_logging():
+  print("LOGGING IS SET UP")
+  time.sleep(1.0)
+
+@phone_only
+@with_processes(['camerad', 'modeld', 'monitoringd'])
+def test_visiond():
+  print("VISIOND IS SET UP")
+  time.sleep(5.0)
+
+@phone_only
+@with_processes(['sensord'])
+def test_sensord():
+  print("SENSORS ARE SET UP")
+  time.sleep(1.0)
+
+@phone_only
+@with_processes(['ui'])
+def test_ui():
+  print("RUNNING UI")
+  time.sleep(1.0)
+
+# will have one thing to upload if loggerd ran
+# TODO: assert it actually uploaded
+@phone_only
+@with_processes(['uploader'])
+def test_uploader():
+  print("UPLOADER")
+  time.sleep(10.0)
+
+@phone_only
+def test_athena():
+  print("ATHENA")
+  start_daemon_process("manage_athenad")
+  params = Params()
+  manage_athenad_pid = params.get("AthenadPid")
+  assert manage_athenad_pid is not None
+  try:
+    os.kill(int(manage_athenad_pid), 0)
+    # process is running
+  except OSError:
+    assert False, "manage_athenad is dead"
+
+  def expect_athena_starts(timeout=30):
+    now = time.time()
+    athenad_pid = None
+    while athenad_pid is None:
+      try:
+        athenad_pid = subprocess.check_output(["pgrep", "-P", manage_athenad_pid], encoding="utf-8").strip()
+        return athenad_pid
+      except subprocess.CalledProcessError:
+        if time.time() - now > timeout:
+          assert False, f"Athena did not start within {timeout} seconds"
+        time.sleep(0.5)
+
+  def athena_post(payload, max_retries=5, wait=5):
+    tries = 0
+    while 1:
+      try:
+        resp = requests.post(
+          "https://athena.comma.ai/" + params.get("DongleId", encoding="utf-8"),
+          headers={
+            "Authorization": "JWT " + os.getenv("COMMA_JWT"),
+            "Content-Type": "application/json"
+          },
+          data=json.dumps(payload),
+          timeout=30
+        )
+        resp_json = resp.json()
+        if resp_json.get('error'):
+          raise Exception(resp_json['error'])
+        return resp_json
+      except Exception as e:
+        time.sleep(wait)
+        tries += 1
+        if tries == max_retries:
+          raise
+        else:
+          print(f'athena_post failed {e}. retrying...')
+
+  def expect_athena_registers():
+    resp = athena_post({
+      "method": "echo",
+      "params": ["hello"],
+      "id": 0,
+      "jsonrpc": "2.0"
+    }, max_retries=12, wait=5)
+    assert resp.get('result') == "hello", f'Athena failed to register ({resp})'
+
+  try:
+    athenad_pid = expect_athena_starts()
+    # kill athenad and ensure it is restarted (check_output will throw if it is not)
+    os.kill(int(athenad_pid), signal.SIGINT)
+    expect_athena_starts()
+
+    if not os.getenv('COMMA_JWT'):
+      print('WARNING: COMMA_JWT env not set, will not test requests to athena.comma.ai')
+      return
+
+    expect_athena_registers()
+
+    print("ATHENA: getSimInfo")
+    resp = athena_post({
+      "method": "getSimInfo",
+      "id": 0,
+      "jsonrpc": "2.0"
+    })
+    assert resp.get('result'), resp
+    assert 'sim_id' in resp['result'], resp['result']
+
+    print("ATHENA: takeSnapshot")
+    resp = athena_post({
+      "method": "takeSnapshot",
+      "id": 0,
+      "jsonrpc": "2.0"
+    })
+    assert resp.get('result'), resp
+    assert resp['result']['jpegBack'], resp['result']
+
+    @with_processes(["thermald"])
+    def test_athena_thermal():
+      print("ATHENA: getMessage(thermal)")
+      resp = athena_post({
+        "method": "getMessage",
+        "params": {"service": "thermal", "timeout": 5000},
+        "id": 0,
+        "jsonrpc": "2.0"
+      })
+      assert resp.get('result'), resp
+      assert resp['result']['thermal'], resp['result']
+    test_athena_thermal()
+  finally:
+    try:
+      athenad_pid = subprocess.check_output(["pgrep", "-P", manage_athenad_pid], encoding="utf-8").strip()
+    except subprocess.CalledProcessError:
+      athenad_pid = None
+
+    try:
+      os.kill(int(manage_athenad_pid), signal.SIGINT)
+      os.kill(int(athenad_pid), signal.SIGINT)
+    except (OSError, TypeError):
+      pass
+
+# TODO: re-enable when jenkins test has /data/pythonpath -> /data/openpilot
+# @phone_only
+# @with_apks()
+# def test_apks():
+#   print("APKS")
+#   time.sleep(14.0)

selfdrive/test/test_panda_safety.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import bz2
+import struct
+from panda import Panda
+from panda.tests.safety_replay.replay_drive import replay_drive
+from tools.lib.logreader import LogReader
+from xx.chffr.lib.route import Route
+
+# get a complete canlog (sendcan and can) for a drive
+def get_canlog(route):
+  if os.path.isfile(route + ".bz2"):
+    return
+
+  r = Route(route)
+  log_msgs = []
+  for i, segment in enumerate(r.log_paths()):
+    print("downloading segment %d/%d" % (i+1, len(r.log_paths())))
+    log = LogReader(segment)
+    log_msgs.extend(filter(lambda msg: msg.which() in ('can', 'sendcan'), log))
+  log_msgs.sort(key=lambda msg: msg.logMonoTime)
+
+  dat = b"".join(m.as_builder().to_bytes() for m in log_msgs)
+  dat = bz2.compress(dat)
+  with open(route + ".bz2", "wb") as f:
+    f.write(dat)
+
+
+def get_logreader(route):
+  try:
+    lr = LogReader(route + ".bz2")
+  except IOError:
+    print("downloading can log")
+    get_canlog(route)
+    lr = LogReader(route + ".bz2")
+
+  return lr
+
+if __name__ == "__main__":
+  route = sys.argv[1]
+  mode = int(sys.argv[2])
+  param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
+
+  lr = get_logreader(route)
+  print("replaying drive %s with safety model %d and param %d" % (route, mode, param))
+
+  replay_drive(lr, mode, param)

selfdrive/test/update_ci_routes.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+import tempfile
+import shutil
+from azure.storage.blob import BlockBlobService
+
+from selfdrive.test.test_car_models import routes as test_car_models_routes, non_public_routes
+from selfdrive.test.process_replay.test_processes import segments as replay_segments
+from xx.chffr.lib import azureutil
+from xx.chffr.lib.storage import upload_dir_serial, download_dir_tpe, key_prefix_exists
+from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION, _DATA_BUCKET_CI
+
+sas_token = os.getenv("TOKEN", None)
+if sas_token is None:
+  sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+service = BlockBlobService(account_name=_DATA_ACCOUNT_CI, sas_token=sas_token)
+
+def sync_to_ci_public(service, route):
+  key_prefix = route.replace('|', '/')
+
+  if next(azureutil.list_all_blobs(service, "openpilotci", prefix=key_prefix), None) is not None:
+    return
+
+  print("uploading", route)
+
+  tmpdir = tempfile.mkdtemp()
+  try:
+    print(f"download_dir_tpe({_DATA_ACCOUNT_PRODUCTION}, {_DATA_BUCKET_PRODUCTION}, {key_prefix}, {tmpdir})")
+
+    # production -> openpilotci
+    download_dir_tpe(_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION, tmpdir, key_prefix)
+
+    # commadataci -> openpilotci
+    #download_dir_tpe(_DATA_ACCOUNT_CI, _DATA_BUCKET_CI, tmpdir, key_prefix)
+
+    upload_dir_serial(_DATA_ACCOUNT_CI, "openpilotci", tmpdir, key_prefix)
+  finally:
+    shutil.rmtree(tmpdir)
+
+# sync process replay routes
+for s in replay_segments:
+  route_name, _ = s.rsplit('--', 1)
+  sync_to_ci_public(service, route_name)
+
+# sync test_car_models routes
+for r in test_car_models_routes:
+  if r not in non_public_routes:
+    sync_to_ci_public(service, r)