Merge remote-tracking branch 'upstream/master' into toyota-fuzzy-v2

2 years ago · 21e4d22fdd
parent 4900e220b3 844b2815d5
commit 21e4d22fdd
92 changed files with 1789 additions and 1260 deletions
--- a/.devcontainer/.gitignore
+++ b/.devcontainer/.gitignore
@ -1 +1,3 @@
-.Xauthority
+.Xauthority
+.env
+.host/
--- a/.devcontainer/container_post_create.sh
+++ b/.devcontainer/container_post_create.sh
@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# override display flag for mac
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /root/.bashrc
+if [ -n "\$DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
--- a/.devcontainer/container_post_start.sh
+++ b/.devcontainer/container_post_start.sh
@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -3,9 +3,9 @@
  "build": {
    "dockerfile": "Dockerfile"
  },
-  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
-  "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"",
-  "initializeCommand": ".devcontainer/setup_host.sh",
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": ".devcontainer/host_setup.sh",
  "privileged": true,
  "containerEnv": {
    "DISPLAY": "${localEnv:DISPLAY}",
@ -14,7 +14,7 @@
  },
  "runArgs": [
    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/root/.Xauthority",
    "--volume=${localEnv:HOME}/.comma:/root/.comma",
    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
    "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
--- a/.devcontainer/host_setup.sh
+++ b/.devcontainer/host_setup.sh
@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
--- a/.devcontainer/setup_host.sh
+++ b/.devcontainer/setup_host.sh
@ -1,16 +0,0 @@
-#!/usr/bin/env bash
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-    echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-    if ! [[ -f $HOME/.Xauthority ]]; then
-        echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-        touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-    else
-        ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-    fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@ -1,42 +1,61 @@
 CI / testing:
-  - all: ['.github/**']
-  - all: ['**/test_*']
+  - all:
+    - changed-files: ['.github/**']
+  - all:
+    - changed-files: ['**/test_*']

 car: 
-  - all: ['selfdrive/car/**']
+  - all:
+    - changed-files: ['selfdrive/car/**']

 body:
-  - all: ['selfdrive/car/body/*']
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
 chrysler:
-  - all: ['selfdrive/car/chrysler/*']
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
 ford: 
-  - all: ['selfdrive/car/ford/*']
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
 gm: 
-  - all: ['selfdrive/car/gm/*']
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
 honda: 
-  - all: ['selfdrive/car/honda/*']
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
 hyundai: 
-  - all: ['selfdrive/car/hyundai/*']
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
 mazda: 
-  - all: ['selfdrive/car/mazda/*']
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
 nissan: 
-  - all: ['selfdrive/car/nissan/*']
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
 subaru: 
-  - all: ['selfdrive/car/subaru/*']
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
 tesla: 
-  - all: ['selfdrive/car/tesla/*']
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
 toyota: 
-  - all: ['selfdrive/car/toyota/*']
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
 volkswagen: 
-  - all: ['selfdrive/car/volkswagen/*']
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']

 simulation:
-  - all: ['tools/sim/**']
+  - all:
+    - changed-files: ['tools/sim/**']
 ui:
-  - all: ['selfdrive/ui/**']
+  - all:
+    - changed-files: ['selfdrive/ui/**']
 tools: 
-  - all: ['tools/**']
+  - all:
+    - changed-files: ['tools/**']

 multilanguage:
-  - all: ['selfdrive/ui/translations/**']
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']

--- a/.github/workflows/labeler.yaml
+++ b/.github/workflows/labeler.yaml
@ -12,7 +12,7 @@ jobs:
    - uses: actions/checkout@v3
      with:
        submodules: false
-    - uses: actions/labeler@v4
+    - uses: actions/labeler@v5.0.0-alpha.1
      with:
        dot: true
        configuration-path: .github/labeler.yaml
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -136,7 +136,7 @@ jobs:
        fi
    - name: Install dependencies
      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
+      run: SKIP_PROMPT=1 ./tools/mac_setup.sh
      env:
        # package install has DeprecationWarnings
        PYTHONWARNINGS: default
@ -260,21 +260,13 @@ jobs:
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
      run: |
        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST -n auto --dist=loadscope --timeout 30 && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./system/ubloxd/tests/test_glonass_runner && \
+                        $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        ./selfdrive/ui/tests/test_translations.py && \
-                        ./common/tests/test_common && \
-                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./system/loggerd/tests/test_logger &&\
-                        ./system/proclogd/tests/test_proclog && \
-                        ./tools/replay/tests/test_replay && \
-                        ./tools/cabana/tests/test_cabana && \
                        ./system/camerad/test/ae_gray_test && \
                        ./selfdrive/test/process_replay/test_fuzzy.py"
    - name: "Upload coverage to Codecov"
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@ -9,9 +9,10 @@ inputs:
    description: 'Prefix for caching key'
    required: false
    default: 'scons_x86_64'
-
-env:
-  SLEEP_TIME: 30 # Time to sleep between retries
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30

 runs:
  using: "composite"
@ -25,7 +26,7 @@ runs:
        is_retried: true
    - if: steps.setup1.outcome == 'failure'
      shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
    - id: setup2
      if: steps.setup1.outcome == 'failure'
      uses: ./.github/workflows/setup
@ -36,7 +37,7 @@ runs:
        is_retried: true
    - if: steps.setup2.outcome == 'failure'
      shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
    - id: setup3
      if: steps.setup2.outcome == 'failure'
      uses: ./.github/workflows/setup
--- a/.gitignore
+++ b/.gitignore
@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -38,7 +38,7 @@ repos:
        args: ['--explicit-package-bases']
        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.287
+    rev: v0.0.288
    hooks:
    -   id: ruff
        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
--- a/README.md
+++ b/README.md
@ -39,13 +39,17 @@ Running on a dedicated device in a car
 ------

 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
-* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
-
-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
+  
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
+  To install the release version of openpilot, use the URL `openpilot.comma.ai`.
+  To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
+
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
+  If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
+  
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+  We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).

 Running on PC
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,7 +1,11 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.5 (2023-09-27)
 ========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!

--- a/52
+++ b/52
@ -244,18 +244,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
  Progress(progress_function, interval=node_interval)

-SHARED = False
-
-# TODO: this can probably be removed
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@ -337,34 +325,35 @@ if GetOption("clazy"):
  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)

-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
+Export('env', 'qt_env', 'arch', 'real_arch')

+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')

-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
+common = [_common, 'json11']
+gpucommon = [_gpucommon]

 Export('common', 'gpucommon')

-# cereal and messaging are shared with the system
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
 messaging_python = [File('#cereal/messaging/messaging_pyx.so')]

 Export('cereal', 'messaging', 'messaging_python', 'visionipc')

-# Build rednose library and ekf models
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])

+# Build rednose library and ekf models
 rednose_deps = [
  "#selfdrive/locationd/models/constants.py",
  "#selfdrive/locationd/models/gnss_helpers.py",
@ -406,15 +395,6 @@ if arch != "Darwin":
  ])

 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])

 SConscript(['selfdrive/boardd/SConscript'])
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7
+Subproject commit 4b334f6f10877e4a666b23983de2d27934ebf3b1
--- a/common/SConscript
+++ b/common/SConscript
@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
+Import('env', 'envCython', 'arch')

 common_libs = [
  'params.cc',
@ -18,13 +13,13 @@ common_libs = [
 if arch != "Darwin":
  common_libs.append('gpio.cc')

-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")

 files = [
  'clutil.cc',
 ]

-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')

 if GetOption('extras'):
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 260 Supported Cars
+# 262 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@ -119,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 5ebf73ebed8d1693aadffe97bd2dd012da3b3c1c
+Subproject commit 4ab347baefb7473771ada0723c969c50d0c28d01
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 8e8aa5acf6ab0e45d91e72beaab74e69810448cd
+Subproject commit 546087125ff72877e4273eef78aa03dae5244a22
--- a/poetry.lock
+++ b/poetry.lock
@ -314,13 +314,13 @@ files = [

 [[package]]
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 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]

 [package.dependencies]
@ -813,63 +813,63 @@ test = ["pytest", "pytest-timeout"]

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@ -3967,7 +3981,6 @@ files = [
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-    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
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    {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
    {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@ -3975,7 +3988,6 @@ files = [
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-    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
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    {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@ -4107,6 +4119,32 @@ urllib3 = ">=1.21.1,<3"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]

+[[package]]
+name = "ruff"
+version = "0.0.290"
+description = "An extremely fast Python linter, written in Rust."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "ruff-0.0.290-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:0e2b09ac4213b11a3520221083866a5816616f3ae9da123037b8ab275066fbac"},
+    {file = "ruff-0.0.290-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:4ca6285aa77b3d966be32c9a3cd531655b3d4a0171e1f9bf26d66d0372186767"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:35e3550d1d9f2157b0fcc77670f7bb59154f223bff281766e61bdd1dd854e0c5"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:d748c8bd97874f5751aed73e8dde379ce32d16338123d07c18b25c9a2796574a"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:982af5ec67cecd099e2ef5e238650407fb40d56304910102d054c109f390bf3c"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:bbd37352cea4ee007c48a44c9bc45a21f7ba70a57edfe46842e346651e2b995a"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1d9be6351b7889462912e0b8185a260c0219c35dfd920fb490c7f256f1d8313e"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:75cdc7fe32dcf33b7cec306707552dda54632ac29402775b9e212a3c16aad5e6"},
+    {file = "ruff-0.0.290-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eb07f37f7aecdbbc91d759c0c09870ce0fb3eed4025eebedf9c4b98c69abd527"},
+    {file = "ruff-0.0.290-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:2ab41bc0ba359d3f715fc7b705bdeef19c0461351306b70a4e247f836b9350ed"},
+    {file = "ruff-0.0.290-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:150bf8050214cea5b990945b66433bf9a5e0cef395c9bc0f50569e7de7540c86"},
+    {file = "ruff-0.0.290-py3-none-musllinux_1_2_i686.whl", hash = "sha256:75386ebc15fe5467248c039f5bf6a0cfe7bfc619ffbb8cd62406cd8811815fca"},
+    {file = "ruff-0.0.290-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:ac93eadf07bc4ab4c48d8bb4e427bf0f58f3a9c578862eb85d99d704669f5da0"},
+    {file = "ruff-0.0.290-py3-none-win32.whl", hash = "sha256:461fbd1fb9ca806d4e3d5c745a30e185f7cf3ca77293cdc17abb2f2a990ad3f7"},
+    {file = "ruff-0.0.290-py3-none-win_amd64.whl", hash = "sha256:f1f49f5ec967fd5778813780b12a5650ab0ebcb9ddcca28d642c689b36920796"},
+    {file = "ruff-0.0.290-py3-none-win_arm64.whl", hash = "sha256:ae5a92dfbdf1f0c689433c223f8dac0782c2b2584bd502dfdbc76475669f1ba1"},
+    {file = "ruff-0.0.290.tar.gz", hash = "sha256:949fecbc5467bb11b8db810a7fa53c7e02633856ee6bd1302b2f43adcd71b88d"},
+]
+
 [[package]]
 name = "scipy"
 version = "1.11.2"
@ -4333,19 +4371,39 @@ test = ["pytest"]

 [[package]]
 name = "setuptools"
-version = "68.1.2"
+version = "68.2.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-68.1.2-py3-none-any.whl", hash = "sha256:3d8083eed2d13afc9426f227b24fd1659489ec107c0e86cec2ffdde5c92e790b"},
-    {file = "setuptools-68.1.2.tar.gz", hash = "sha256:3d4dfa6d95f1b101d695a6160a7626e15583af71a5f52176efa5d39a054d475d"},
+    {file = "setuptools-68.2.1-py3-none-any.whl", hash = "sha256:eff96148eb336377ab11beee0c73ed84f1709a40c0b870298b0d058828761bae"},
+    {file = "setuptools-68.2.1.tar.gz", hash = "sha256:56ee14884fd8d0cd015411f4a13f40b4356775a0aefd9ebc1d3bfb9a1acb32f1"},
 ]

 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5,<=7.1.2)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
 testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
+[[package]]
+name = "setuptools-scm"
+version = "7.1.0"
+description = "the blessed package to manage your versions by scm tags"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
+    {file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
+]
+
+[package.dependencies]
+packaging = ">=20.0"
+setuptools = "*"
+typing-extensions = "*"
+
+[package.extras]
+test = ["pytest (>=6.2)", "virtualenv (>20)"]
+toml = ["setuptools (>=42)"]

 [[package]]
 name = "shapely"
@ -4894,13 +4952,13 @@ zstd = ["zstandard (>=0.18.0)"]

 [[package]]
 name = "virtualenv"
-version = "20.24.4"
+version = "20.24.5"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.24.4-py3-none-any.whl", hash = "sha256:29c70bb9b88510f6414ac3e55c8b413a1f96239b6b789ca123437d5e892190cb"},
-    {file = "virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"},
+    {file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"},
+    {file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"},
 ]

 [package.dependencies]
@ -4914,13 +4972,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess

 [[package]]
 name = "websocket-client"
-version = "1.6.2"
+version = "1.6.3"
 description = "WebSocket client for Python with low level API options"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"},
-    {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"},
+    {file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"},
+    {file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"},
 ]

 [package.extras]
@ -5049,4 +5107,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1"
+content-hash = "80bd9226bb8fc61c75fe8047c55ba2da3919bc8d9b32a8154ec0a40f9fe2a18e"
--- a/pyproject.toml
+++ b/pyproject.toml
@ -1,6 +1,7 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
+#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
@ -18,9 +19,12 @@ testpaths = [
  "selfdrive/test/longitudinal_maneuvers",
  "system/hardware/tici",
  "system/loggerd",
+  "system/proclogd",
  "system/tests",
  "system/ubloxd",
-  "tools/lib/tests"
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
 ]

 [tool.mypy]
@ -128,7 +132,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@ -142,10 +146,12 @@ pygame = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
+pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+ruff = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
@ -167,7 +173,7 @@ build-backend = "poetry.core.masonry.api"

 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B", "TID251"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@ -185,4 +191,4 @@ flake8-implicit-str-concat.allow-multiline=false
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
 "third_party".msg = "Use openpilot.third_party"
-"tools".msg = "Use openpilot.tools"
+"tools".msg = "Use openpilot.tools"
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -98,7 +98,7 @@ class CarState(CarStateBase):
    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2

-    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@ -135,7 +135,7 @@ class CarState(CarStateBase):
      ("PSCMStatus", 10),
      ("ESPStatus", 10),
      ("BCMDoorBeltStatus", 10),
-      ("VehicleIgnitionAlt", 10),
+      ("BCMGeneralPlatformStatus", 10),
      ("EBCMWheelSpdFront", 20),
      ("EBCMWheelSpdRear", 20),
      ("EBCMFrictionBrakeStatus", 20),
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -105,10 +105,12 @@ class CarState(CarStateBase):
      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
      ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
    else:
      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv

    # TODO: Find brake pressure
@ -226,6 +228,13 @@ class CarState(CarStateBase):
      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
      self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])

+    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
+    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
+    # The car will brake, but does not respect positive acceleration commands in this mode
+    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
+    if self.CP.carFingerprint in EV_CAR:
+      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+
    self.prev_cruise_buttons = self.cruise_buttons[-1]
    self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
    self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@ -320,6 +329,11 @@ class CarState(CarStateBase):
      ("DOORS_SEATBELTS", 4),
    ]

+    if CP.carFingerprint in EV_CAR:
+      messages += [
+        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
+      ]
+
    if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
      messages += [
        ("CRUISE_BUTTONS", 50)
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                         CAR.AZERA_6TH_GEN):
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -64,7 +64,11 @@ class CarInterface(CarInterfaceBase):
    ret.steerLimitTimer = 0.4
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+    if candidate == CAR.AZERA_6TH_GEN:
+      ret.mass = 1540.  # average
+      ret.wheelbase = 2.885
+      ret.steerRatio = 14.5
+    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
      ret.mass = 3982. * CV.LB_TO_KG
      ret.wheelbase = 2.766
      # Values from optimizer
@ -211,6 +215,10 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 2087.
      ret.wheelbase = 3.09
      ret.steerRatio = 14.23
+    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
+      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
+      ret.wheelbase = 2.895
+      ret.steerRatio = 13.27  # guesstimate from K5 platform

    # Genesis
    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -69,6 +69,7 @@ class HyundaiFlags(IntFlag):

 class CAR:
  # Hyundai
+  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
  ELANTRA = "HYUNDAI ELANTRA 2017"
  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
@ -104,6 +105,7 @@ class CAR:
  KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
  KIA_K5_2021 = "KIA K5 2021"
  KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
+  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
  KIA_NIRO_EV = "KIA NIRO EV 2020"
  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
  KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@ -152,6 +154,7 @@ class HyundaiCarInfo(CarInfo):


 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.ELANTRA: [
    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
    HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@ -217,6 +220,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  ],
  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
  CAR.KIA_NIRO_EV: [
    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@ -523,6 +527,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )

 FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
  CAR.HYUNDAI_GENESIS: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DH LKAS 1.1 -150210',
@ -1812,6 +1833,7 @@ FW_VERSIONS = {
      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
    ],
  },
@ -1940,6 +1962,14 @@ FW_VERSIONS = {
      b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
    ],
  },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
+    ],
+  },
 }

 CHECKSUM = {
@ -1961,7 +1991,7 @@ CAN_GEARS = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
             CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
             CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}

 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
@ -1974,7 +2004,7 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
              CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_K8_HEV_1ST_GEN}

 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
@ -1990,6 +2020,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
+  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@ -2050,4 +2081,5 @@ DBC = {
  CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -25,7 +25,6 @@ non_tested_cars = [
  HONDA.ODYSSEY_CHN,
  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
  TOYOTA.RAV4_TSS2_2023,
-  TOYOTA.RAV4H_TSS2_2023,
  SUBARU.FORESTER_HYBRID,
 ]

@ -94,6 +93,7 @@ routes = [
  CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),

+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
  CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
  CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
  CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
@ -146,6 +146,7 @@ routes = [
  CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
  CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
  CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
+  CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
  CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
  CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
  CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
@ -182,6 +183,7 @@ routes = [
  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023),
  CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
  CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
  CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -9,6 +9,7 @@ from parameterized import parameterized_class

 from cereal import log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName
 from panda.tests.libpanda import libpanda_py
 from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR

+EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel

@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase):
    del cls.can_msgs

  def setUp(self):
-    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
    assert self.CI

+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
    # TODO: check safetyModel is in release panda build
    self.safety = libpanda_py.libpanda

@ -315,6 +320,8 @@ class TestCarModelBase(unittest.TestCase):
    controls_allowed_prev = False
    CS_prev = car.CarState.new_message()
    checks = defaultdict(lambda: 0)
+    controlsd = Controls(CI=self.CI)
+    controlsd.initialized = True
    for idx, can in enumerate(self.can_msgs):
      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
      for msg in filter(lambda m: m.src in range(64), can.can):
@ -359,7 +366,10 @@ class TestCarModelBase(unittest.TestCase):
          checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
      else:
        # Check for enable events on rising edge of controls allowed
-        button_enable = any(evt.enable for evt in CS.events)
+        controlsd.update_events(CS)
+        controlsd.CS_prev = CS
+        button_enable = (any(evt.enable for evt in CS.events) and
+                         not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
        mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
        checks['controlsAllowed'] += mismatch
        controls_allowed_prev = self.safety.get_controls_allowed()
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan]
 SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
 SUBARU ASCENT 2023: [.nan, 3.0, .nan]

-# Toyota LTA also has torque
-TOYOTA RAV4 2023: [.nan, 3.0, .nan]
-TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
-
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
@ -59,6 +55,10 @@ LEXUS IS 2023: [2.0, 2.0, 0.1]
 KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
+HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
+KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
+TOYOTA RAV4 2023: [2.5, 2.5, 0.1]
+TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -27,7 +27,15 @@ class CarInterface(CarInterfaceBase):
    if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE

-    if candidate in ANGLE_CONTROL_CAR:
+    # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan)
+    # So far only hybrid RAV4 2023 has been seen with this FW version
+    angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw)
+    if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023):
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+      ret.steerLimitTimer = 0.4
+    else:
      ret.dashcamOnly = True
      ret.steerControlType = SteerControlType.angle
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@ -35,11 +43,6 @@ class CarInterface(CarInterfaceBase):
      # LTA control can be more delayed and winds up more often
      ret.steerActuatorDelay = 0.25
      ret.steerLimitTimer = 0.8
-    else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-      ret.steerLimitTimer = 0.4

    ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop

@ -121,21 +124,25 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.3
      ret.tireStiffnessFactor = 0.7933
      ret.mass = 3585. * CV.LB_TO_KG  # Average between ICE and Hybrid
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kiBP = [0.0]
-      ret.lateralTuning.pid.kpBP = [0.0]
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.1]
-      ret.lateralTuning.pid.kf = 0.00007818594
-
-      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-      for fw in car_fw:
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          ret.lateralTuning.pid.kpV = [0.15]
-          ret.lateralTuning.pid.kiV = [0.05]
-          ret.lateralTuning.pid.kf = 0.00004
-          break
+
+      # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same
+      # TODO: revisit this disparity if there is a divide for 2023
+      if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
+        ret.lateralTuning.init('pid')
+        ret.lateralTuning.pid.kiBP = [0.0]
+        ret.lateralTuning.pid.kpBP = [0.0]
+        ret.lateralTuning.pid.kpV = [0.6]
+        ret.lateralTuning.pid.kiV = [0.1]
+        ret.lateralTuning.pid.kf = 0.00007818594
+
+        # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+        # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
+        for fw in car_fw:
+          if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+            ret.lateralTuning.pid.kpV = [0.15]
+            ret.lateralTuning.pid.kiV = [0.05]
+            ret.lateralTuning.pid.kf = 0.00004
+            break

    elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
      ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -2450,7 +2450,8 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}

-# these cars use the Lane Tracing Assist (LTA) message for lateral control
+# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require
+# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected
 ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}

 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -396,6 +396,7 @@ FW_VERSIONS = {
  },
  CAR.CRAFTER_MK2: {
    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056BP\xf1\x894729',
      b'\xf1\x8704L906056EK\xf1\x896391',
      b'\xf1\x8705L906023BC\xf1\x892688',
    ],
@ -403,15 +404,18 @@ FW_VERSIONS = {
    #(Ecu.transmission, 0x7e1, None): [
    #],
    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
      b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
      b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
    ],
    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
      b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
      b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
    ],
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572J \xf1\x890156',
      b'\xf1\x872Q0907572M \xf1\x890233',
    ],
  },
@ -461,6 +465,7 @@ FW_VERSIONS = {
      b'\xf1\x878V0906259K \xf1\x890003',
      b'\xf1\x878V0906259P \xf1\x890001',
      b'\xf1\x878V0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259R \xf1\x890002',
      b'\xf1\x878V0906264F \xf1\x890003',
      b'\xf1\x878V0906264L \xf1\x890002',
      b'\xf1\x878V0906264M \xf1\x890001',
@ -502,6 +507,7 @@ FW_VERSIONS = {
      b'\xf1\x870GC300012A \xf1\x891401',
      b'\xf1\x870GC300012A \xf1\x891403',
      b'\xf1\x870GC300014B \xf1\x892401',
+      b'\xf1\x870GC300014B \xf1\x892403',
      b'\xf1\x870GC300014B \xf1\x892405',
      b'\xf1\x870GC300020G \xf1\x892401',
      b'\xf1\x870GC300020G \xf1\x892403',
@ -521,6 +527,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
@ -547,6 +554,7 @@ FW_VERSIONS = {
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
      b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
@ -814,11 +822,13 @@ FW_VERSIONS = {
      b'\xf1\x875NA906259H \xf1\x890002',
      b'\xf1\x875NA907115E \xf1\x890003',
      b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA907115J \xf1\x890002',
      b'\xf1\x8783A907115B \xf1\x890005',
      b'\xf1\x8783A907115F \xf1\x890002',
      b'\xf1\x8783A907115G \xf1\x890001',
      b'\xf1\x8783A907115K \xf1\x890001',
      b'\xf1\x8704E906024AP\xf1\x891461',
+      b'\xf1\x8783A907115  \xf1\x890007',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158DT\xf1\x893698',
@ -836,12 +846,14 @@ FW_VERSIONS = {
      b'\xf1\x870DL300013G \xf1\x892120',
      b'\xf1\x870DL300014C \xf1\x893703',
      b'\xf1\x870DD300046K \xf1\x892302',
+      b'\xf1\x870GC300013P \xf1\x892401',
    ],
    (Ecu.srs, 0x715, None): [
      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
@ -849,6 +861,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
      b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
@ -863,6 +876,7 @@ FW_VERSIONS = {
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
    ],
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572AA\xf1\x890396',
@ -1323,6 +1337,7 @@ FW_VERSIONS = {
      b'\xf1\x8704E906027BT\xf1\x899042',
      b'\xf1\x8704L906026ET\xf1\x891343',
      b'\xf1\x8704L906026FP\xf1\x891196',
+      b'\xf1\x8704L906026KA\xf1\x896014',
      b'\xf1\x8704L906026KB\xf1\x894071',
      b'\xf1\x8704L906026KD\xf1\x894798',
      b'\xf1\x8704L906026MT\xf1\x893076',
@ -1340,6 +1355,7 @@ FW_VERSIONS = {
      b'\xf1\x870D9300014K \xf1\x895006',
      b'\xf1\x870D9300041H \xf1\x894905',
      b'\xf1\x870D9300043F \xf1\x895202',
+      b'\xf1\x870GC300013K \xf1\x892403',
      b'\xf1\x870GC300014M \xf1\x892801',
      b'\xf1\x870GC300019G \xf1\x892803',
      b'\xf1\x870GC300043  \xf1\x892301',
@ -1352,6 +1368,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
      b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
    ],
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -374,19 +374,19 @@ class Controls:
    else:
      self.logged_comm_issue = None

-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.vehicleModelInvalid)
    if not self.sm['lateralPlan'].mpcSolutionValid:
      self.events.add(EventName.plannerError)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
-        self.events.add(EventName.sensorDataInvalid)
-    if not self.sm['liveLocationKalman'].inputsOK and not NOSENSOR:
-      self.events.add(EventName.localizerMalfunction)
    if not self.sm['liveLocationKalman'].posenetOK:
      self.events.add(EventName.posenetInvalid)
    if not self.sm['liveLocationKalman'].deviceStable:
      self.events.add(EventName.deviceFalling)
+    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK):
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive sensor inputs
+        self.events.add(EventName.sensorDataInvalid)
+    if not self.sm['liveLocationKalman'].inputsOK:
+      self.events.add(EventName.locationdTemporaryError)
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      self.events.add(EventName.paramsdTemporaryError)

    if not REPLAY:
      # Check for mismatch between openpilot and car's PCM
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@ -424,19 +424,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {

  # ********** events only containing alerts that display while engaged **********

-  # openpilot tries to learn certain parameters about your car by observing
-  # how the car behaves to steering inputs from both human and openpilot driving.
-  # This includes:
-  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
-  # - tire stiffness: how much grip your tires have
-  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
-  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
-  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
-  EventName.vehicleModelInvalid: {
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
-  },
-
  EventName.steerTempUnavailableSilent: {
    ET.WARNING: Alert(
      "Steering Temporarily Unavailable",
@ -576,9 +563,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
  },

-  EventName.localizerMalfunction: {
-    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
-    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
  },

  # ********** events that affect controls state transitions **********
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
 lenv = env.Clone()
 lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
 locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
-lenv.Depends(locationd, libkf)
-
-if File("liblocationd.cc").exists():
-  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
+lenv.Depends(locationd, libkf)
--- a/selfdrive/locationd/liblocationd.cc
+++ b/selfdrive/locationd/liblocationd.cc
@ -1,41 +0,0 @@
-#include "selfdrive/locationd/locationd.h"
-
-extern "C" {
-  typedef Localizer* Localizer_t;
-
-  Localizer *localizer_init(bool has_ublox) {
-    return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
-  }
-
-  void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
-                                   char *buff, size_t buff_size) {
-    MessageBuilder msg_builder;
-    kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
-    assert(buff_size >= arr.size());
-    memcpy(buff, arr.begin(), arr.size());
-  }
-
-  void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
-    localizer->handle_msg_bytes(data, size);
-  }
-
-  void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
-    Eigen::VectorXd state = localizer->get_state();
-    memcpy(state_buff, state.data(), sizeof(double) * state.size());
-    Eigen::VectorXd stdev = localizer->get_stdev();
-    memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
-  }
-
-  bool is_gps_ok(Localizer *localizer){
-    return localizer->is_gps_ok();
-  }
-
-  bool are_inputs_ok(Localizer *localizer){
-    return localizer->are_inputs_ok();
-  }
-
-  void observation_timings_invalid_reset(Localizer *localizer){
-    localizer->observation_timings_invalid_reset();
-  }
-
-}
--- a/selfdrive/locationd/test/_test_locationd_lib.py
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@ -1,109 +0,0 @@
-#!/usr/bin/env python3
-"""This test can't be run together with other locationd tests.
-cffi.dlopen breaks the list of registered filters."""
-import os
-import random
-import unittest
-
-from cffi import FFI
-
-import cereal.messaging as messaging
-from cereal import log
-
-from openpilot.common.ffi_wrapper import suffix
-
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init(bool has_ublox);
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init(True) # default to ublox
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
-      return log_evt
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
-if __name__ == "__main__":
-  unittest.main()
-
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@ -0,0 +1,227 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from collections import defaultdict
+from enum import Enum
+
+
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
+
+TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4
+GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
+SELECT_COMPARE_FIELDS = {
+  'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
+  'roll': ['orientationNED', 'value', 0],
+  'gps_flag': ['gpsOK'],
+  'inputs_flag': ['inputsOK'],
+  'sensors_flag': ['sensorsOK'],
+}
+JUNK_IDX = 100
+
+
+class Scenario(Enum):
+  BASE = 'base'
+  GPS_OFF = 'gps_off'
+  GPS_OFF_MIDWAY = 'gps_off_midway'
+  GPS_ON_MIDWAY = 'gps_on_midway'
+  GPS_TUNNEL = 'gps_tunnel'
+  GYRO_OFF = 'gyro_off'
+  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  ACCEL_OFF = 'accel_off'
+  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+
+
+def get_select_fields_data(logs):
+  def get_nested_keys(msg, keys):
+    val = None
+    for key in keys:
+      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+    return val
+  llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman']
+  data = defaultdict(list)
+  for msg in llk:
+    for key, fields in SELECT_COMPARE_FIELDS.items():
+      data[key].append(get_nested_keys(msg, fields))
+  for key in data:
+    data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+  return data
+
+
+def run_scenarios(scenario, logs):
+  if scenario == Scenario.BASE:
+    pass
+
+  elif scenario == Scenario.GPS_OFF:
+    logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_OFF_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_ON_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_TUNNEL:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_OFF:
+    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
+    gyro = [x for x in logs if x.which() in 'gyroscope']
+    temp = gyro[len(gyro) // 2].as_builder()
+    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
+    gyro[len(gyro) // 2] = temp.as_reader()
+    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_OFF:
+    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+    non_accel = [x for x in logs if x.which() not in 'accelerometer']
+    accel = [x for x in logs if x.which() in 'accelerometer']
+    temp = accel[len(accel) // 2].as_builder()
+    temp.accelerometer.acceleration.v[0] += 10.0
+    accel[len(accel) // 2] = temp.as_reader()
+    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
+
+  replayed_logs = replay_process_with_name(name='locationd', lr=logs)
+  return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
+
+
+class TestLocationdScenarios(unittest.TestCase):
+  """
+  Test locationd with different scenarios. In all these scenarios, we expect the following:
+    - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
+    - faulty values should be ignored, with appropriate flags set
+  """
+
+  @classmethod
+  def setUpClass(cls):
+    cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
+
+  def test_base(self):
+    """
+    Test: unchanged log
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+  def test_gps_off(self):
+    """
+    Test: no GPS message for the entire segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
+
+  def test_gps_off_midway(self):
+    """
+    Test: no GPS message for the second half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: True for the first half, False for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
+
+  def test_gps_on_midway(self):
+    """
+    Test: no GPS message for the first half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the first half, True for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
+
+  def test_gps_tunnel(self):
+    """
+    Test: no GPS message for the middle section of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the middle section, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0)
+
+  def test_gyro_off(self):
+    """
+    Test: no gyroscope message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_gyro_spikes(self):
+    """
+    Test: a gyroscope spike in the middle of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+      - inputsOK: False for some time after the spike, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0)
+
+  def test_accel_off(self):
+    """
+    Test: no accelerometer message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_accel_spikes(self):
+    """
+    ToDo:
+    Test: an accelerometer spike in the middle of the segment
+    Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import time
 import unittest
 import numpy as np
 import random
@ -27,8 +26,7 @@ class TestModeld(unittest.TestCase):
    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan'])

    managed_processes['modeld'].start()
-    time.sleep(0.2)
-    self.sm.update(1000)
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)

  def tearDown(self):
    managed_processes['modeld'].stop()
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-98c21236f831ca3cff63939cb760b213460e84de
+b421ff389ce720b70a36dd2b3510af54eb484b5f
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -22,7 +22,6 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/input.h"

 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  // param, title, desc, icon
--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@ -97,7 +97,7 @@ TEST_CASE("logger") {

    auto logging_thread = [&]() -> void {
      LoggerHandle *lh = logger_get_handle(&logger);
-      REQUIRE(lh != nullptr);
+      assert(lh != nullptr);
      int segment = main_segment;
      int delayed_cnt = 0;
      while (!do_exit) {
--- a/system/proclogd/tests/test_proclog.cc
+++ b/system/proclogd/tests/test_proclog.cc
@ -140,7 +140,6 @@ TEST_CASE("buildProcLogerMessage") {
      REQUIRE(p.getName() == "test_proclog");
      REQUIRE(p.getState() == 'R');
      REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog"));
-      REQUIRE(p.getCmdline().size() == 1);
      REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog"));
    } else {
      std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline";
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@ -81,7 +81,7 @@ def read_sensor_events(duration_sec):
    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)

  # wait for sensors to come up
-  with Timeout(60, "sensors didn't come up"):
+  with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
    while len(poller.poll(250)) == 0:
      pass
  time.sleep(1)
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@ -280,7 +280,7 @@ void BinaryViewModel::refresh() {
  updateState();
 }

-void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) {
+void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
  auto &item = items[row * column_count + col];
  if (item.val != val || item.bg_color != color) {
    item.val = val;
@ -307,7 +307,7 @@ void BinaryViewModel::updateState() {
  for (int i = 0; i < binary.size(); ++i) {
    for (int j = 0; j < 8; ++j) {
      auto &item = items[i * column_count + j];
-      QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0";
+      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
      // Bit update frequency based highlighting
      double offset = !item.sigs.empty() ? 50 : 0;
      auto n = last_msg.bit_change_counts[i][7 - j];
@ -317,7 +317,7 @@ void BinaryViewModel::updateState() {
      color.setAlpha(alpha);
      updateItem(i, j, val, color);
    }
-    updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]);
+    updateItem(i, 8, binary[i], last_msg.colors[i]);
  }
 }

@ -348,6 +348,13 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa
  small_font.setPixelSize(8);
  hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
  hex_font.setBold(true);
+
+  bin_text_table[0].setText("0");
+  bin_text_table[1].setText("1");
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, hex_font);
+  }
 }

 bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const {
@ -392,7 +399,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
  } else if (!item->valid) {
    painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
  }
-  painter->drawText(option.rect, Qt::AlignCenter, item->val);
+  if (item->valid) {
+    utils::drawStaticText(painter, option.rect, index.column() == 8 ? hex_text_table[item->val] : bin_text_table[item->val]);
+  }
  if (item->is_msb || item->is_lsb) {
    painter->setFont(small_font);
    painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L");
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@ -19,6 +19,8 @@ public:
  void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;

  QFont small_font, hex_font;
+  std::array<QStaticText, 256> hex_text_table;
+  std::array<QStaticText, 2> bin_text_table;
 };

 class BinaryViewModel : public QAbstractTableModel {
@ -26,7 +28,7 @@ public:
  BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
  void refresh();
  void updateState();
-  void updateItem(int row, int col, const QString &val, const QColor &color);
+  void updateItem(int row, int col, uint8_t val, const QColor &color);
  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
@ -42,7 +44,7 @@ public:
    QColor bg_color = QColor(102, 86, 169, 255);
    bool is_msb = false;
    bool is_lsb = false;
-    QString val;
+    uint8_t val;
    QList<const cabana::Signal *> sigs;
    bool valid = false;
  };
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@ -18,6 +18,8 @@ int main(int argc, char *argv[]) {
  app.setWindowIcon(QIcon(":cabana-icon.png"));

  UnixSignalHandler signalHandler;
+
+  settings.load();
  utils::setTheme(settings.theme);

  QCommandLineParser cmd_parser;
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@ -14,9 +14,9 @@
 #include <QMimeData>
 #include <QOpenGLWidget>
 #include <QPropertyAnimation>
+#include <QRandomGenerator>
 #include <QRubberBand>
 #include <QScreen>
-#include <QtMath>
 #include <QWindow>

 #include "tools/cabana/chart/chartswidget.h"
@ -25,7 +25,8 @@
 const int AXIS_X_TOP_MARGIN = 4;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }

-ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
+    : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
  series_type = (SeriesType)settings.chart_series_type;
  QChart *chart = new QChart();
  chart->setBackgroundVisible(false);
@ -150,6 +151,11 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {

 void ChartView::signalUpdated(const cabana::Signal *sig) {
  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
+    for (const auto &s : sigs) {
+      if (s.sig == sig && s.series->color() != sig->color) {
+        setSeriesColor(s.series, sig->color);
+      }
+    }
    updateTitle();
    updateSeries(sig);
  }
@ -280,7 +286,6 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
        s.step_vals.clear();
        s.last_value_mono_time = 0;
      }
-      s.series->setColor(s.sig->color);

      const auto &msgs = can->events(s.msg_id);
      s.vals.reserve(msgs.capacity());
@ -359,7 +364,7 @@ void ChartView::updateAxisY() {
    axis_y->setRange(min_y, max_y);
    axis_y->setTickCount(tick_count);

-    int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
+    int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
    int max_label_width = 0;
    QFontMetrics fm(axis_y->labelsFont());
    for (int i = 0; i < tick_count; i++) {
@ -377,15 +382,15 @@ void ChartView::updateAxisY() {
 std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
  qreal range = niceNumber((max - min), true);  // range with ceiling
  qreal step = niceNumber(range / (tick_count - 1), false);
-  min = qFloor(min / step);
-  max = qCeil(max / step);
+  min = std::floor(min / step);
+  max = std::ceil(max / step);
  tick_count = int(max - min) + 1;
  return {min * step, max * step, tick_count};
 }

 // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
 qreal ChartView::niceNumber(qreal x, bool ceiling) {
-  qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
+  qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
  qreal q = x / z; //q<10 && q>=1;
  if (ceiling) {
    if (q <= 1.0) q = 1;
@ -474,7 +479,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
  auto rubber = findChild<QRubberBand *>();
  if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
    rubber->hide();
-    QRectF rect = rubber->geometry().normalized();
+    auto rect = rubber->geometry().normalized();
    double min = chart()->mapToValue(rect.topLeft()).x();
    double max = chart()->mapToValue(rect.bottomRight()).x();

@ -668,6 +673,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {

 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
  drawTimeline(painter);
+  drawSignalValue(painter);
  // draw track points
  painter->setPen(Qt::NoPen);
  qreal track_line_x = -1;
@ -698,7 +704,10 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
    }
  }

-  // paint zoom range
+  drawRubberBandTimeRange(painter);
+}
+
+void ChartView::drawRubberBandTimeRange(QPainter *painter) {
  auto rubber = findChild<QRubberBand *>();
  if (rubber && rubber->isVisible() && rubber->width() > 1) {
    painter->setPen(Qt::white);
@ -715,23 +724,24 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {

 void ChartView::drawTimeline(QPainter *painter) {
  const auto plot_area = chart()->plotArea();
-  // draw line
+  // draw vertical time line
  qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
  painter->setPen(QPen(chart()->titleBrush().color(), 2));
  painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});

-  // draw current time
+  // draw current time under the axis-x
  QString time_str = QString::number(cur_sec, 'f', 2);
  QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
-  QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
  QPainterPath path;
  path.addRoundedRect(time_str_rect, 3, 3);
  painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
  painter->setPen(palette().color(QPalette::BrightText));
  painter->setFont(axis_x->labelsFont());
  painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+}

-  // draw signal value
+void ChartView::drawSignalValue(QPainter *painter) {
  auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
  assert(item_group != nullptr);
  auto legend_markers = item_group->childItems();
@ -783,6 +793,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
 }

 void ChartView::addSeries(QXYSeries *series) {
+  setSeriesColor(series, series->color());
  chart()->addSeries(series);
  series->attachAxis(axis_x);
  series->attachAxis(axis_y);
@ -795,6 +806,21 @@ void ChartView::addSeries(QXYSeries *series) {
  }
 }

+void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
+  auto existing_series = chart()->series();
+  for (auto s : existing_series) {
+    if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
+      // use different color to distinguish it from others.
+      auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
+                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
+                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
+      break;
+    }
+  }
+  series->setColor(color);
+}
+
 void ChartView::setSeriesType(SeriesType type) {
  if (type != series_type) {
    series_type = type;
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@ -83,10 +83,13 @@ private:
  void drawForeground(QPainter *painter, const QRectF &rect) override;
  void drawBackground(QPainter *painter, const QRectF &rect) override;
  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawSignalValue(QPainter *painter);
  void drawTimeline(QPainter *painter);
+  void drawRubberBandTimeRange(QPainter *painter);
  std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
  qreal niceNumber(qreal x, bool ceiling);
  QXYSeries *createSeries(SeriesType type, QColor color);
+  void setSeriesColor(QXYSeries *, QColor color);
  void updateSeriesPoints();
  void removeIf(std::function<bool(const SigItem &)> predicate);
  inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@ -219,7 +219,7 @@ void ChartsWidget::updateToolBar() {
  undo_zoom_action->setVisible(is_zoomed);
  redo_zoom_action->setVisible(is_zoomed);
  reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
  remove_all_btn->setEnabled(!charts.isEmpty());
  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@ -277,6 +277,10 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
    for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
      auto c = createChart();
      src_chart->chart()->removeSeries(it->series);
+
+      // Restore to the original color
+      it->series->setColor(it->sig->color);
+
      c->addSeries(it->series);
      c->sigs.push_back(*it);
      c->updateAxisY();
@ -285,6 +289,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
    }
    src_chart->updateAxisY();
    src_chart->updateTitle();
+    QTimer::singleShot(0, src_chart, &ChartView::resetChartCache);
  }
 }

--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@ -120,7 +120,7 @@ class ZoomCommand : public QUndoCommand {
 public:
  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
  }
  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
  void redo() override { charts->setZoom(range.first, range.second); }
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@ -4,11 +4,13 @@

 // EditMsgCommand

-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent)
-    : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) {
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
+                               const QString &node, const QString &comment, QUndoCommand *parent)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
  if (auto msg = dbc()->msg(id)) {
    old_name = msg->name;
    old_size = msg->size;
+    old_node = msg->transmitter;
    old_comment = msg->comment;
    setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
  } else {
@ -20,11 +22,11 @@ void EditMsgCommand::undo() {
  if (old_name.isEmpty())
    dbc()->removeMsg(id);
  else
-    dbc()->updateMsg(id, old_name, old_size, old_comment);
+    dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
 }

 void EditMsgCommand::redo() {
-  dbc()->updateMsg(id, new_name, new_size, new_comment);
+  dbc()->updateMsg(id, new_name, new_size, new_node, new_comment);
 }

 // RemoveMsgCommand
@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) :

 void RemoveMsgCommand::undo() {
  if (!message.name.isEmpty()) {
-    dbc()->updateMsg(id, message.name, message.size, message.comment);
+    dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
    for (auto s : message.getSignals())
      dbc()->addSignal(id, *s);
  }
@ -64,7 +66,7 @@ void AddSigCommand::undo() {
 void AddSigCommand::redo() {
  if (auto msg = dbc()->msg(id); !msg) {
    msg_created = true;
-    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", "");
  }
  signal.name = dbc()->newSignalName(id);
  signal.max = std::pow(2, signal.size) - 1;
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@ -10,13 +10,14 @@

 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
+                 const QString &comment, QUndoCommand *parent = nullptr);
  void undo() override;
  void redo() override;

 private:
  const MessageId id;
-  QString old_name, new_name, old_comment, new_comment;
+  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
  int old_size = 0, new_size = 0;
 };

--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() {
 }

 void cabana::Msg::update() {
+  if (transmitter.isEmpty()) {
+    transmitter = DEFAULT_NODE_NAME;
+  }
  mask.assign(size, 0x00);
  multiplexor = nullptr;

@ -125,6 +128,9 @@ void cabana::Msg::update() {

 void cabana::Signal::update() {
  updateMsbLsb(*this);
+  if (receiver_name.isEmpty()) {
+    receiver_name = DEFAULT_NODE_NAME;
+  }

  float h = 19 * (float)lsb / 64.0;
  h = fmod(h, 1.0);
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@ -13,6 +13,7 @@
 #include "opendbc/can/common_dbc.h"

 const QString UNTITLED = "untitled";
+const QString DEFAULT_NODE_NAME = "XXX";

 struct MessageId {
  uint8_t source = 0;
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@ -60,11 +60,12 @@ bool DBCFile::writeContents(const QString &fn) {
  return false;
 }

-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
  auto &m = msgs[id.address];
  m.address = id.address;
  m.name = name;
  m.size = size;
+  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
  m.comment = comment;
 }

@ -198,7 +199,8 @@ void DBCFile::parse(const QString &content) {
 QString DBCFile::generateDBC() {
  QString dbc_string, signal_comment, message_comment, val_desc;
  for (const auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
+    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
    if (!m.comment.isEmpty()) {
      message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
    }
@ -221,7 +223,7 @@ QString DBCFile::generateDBC() {
                        .arg(doubleToString(sig->min))
                        .arg(doubleToString(sig->max))
                        .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
+                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
      if (!sig->comment.isEmpty()) {
        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
      }
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@ -22,7 +22,7 @@ public:
  void cleanupAutoSaveFile();
  QString generateDBC();

-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
  inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }

  inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
  }
 }

-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
  auto dbc_file = findDBCFile(id);
  assert(dbc_file);  // This should be impossible
-  dbc_file->updateMsg(id, name, size, comment);
+  dbc_file->updateMsg(id, name, size, node, comment);
  emit msgUpdated(id);
 }

--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@ -28,7 +28,7 @@ public:
  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
  void removeSignal(const MessageId &id, const QString &sig_name);

-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
  void removeMsg(const MessageId &id);

  QString newMsgName(const MessageId &id);
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@ -2,7 +2,6 @@

 #include <QFormLayout>
 #include <QMenu>
-#include <QMessageBox>

 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@ -135,11 +134,12 @@ void DetailWidget::refresh() {
    for (auto s : binary_view->getOverlappingSignals()) {
      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
    }
+    name_label->setText(QString("%1 (%2)").arg(msgName(msg_id), msg->transmitter));
  } else {
    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
+    name_label->setText(msgName(msg_id));
  }
  remove_btn->setEnabled(msg != nullptr);
-  name_label->setText(msgName(msg_id));

  if (!warnings.isEmpty()) {
    warning_label->setText(warnings.join('\n'));
@ -164,8 +164,8 @@ void DetailWidget::editMsg() {
  int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
  if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
-                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
  }
 }

@ -182,25 +182,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit

  form_layout->addRow("", error_label = new QLabel);
  error_label->setVisible(false);
-  name_edit = new QLineEdit(title, this);
+  form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this));
  name_edit->setValidator(new NameValidator(name_edit));
-  form_layout->addRow(tr("Name"), name_edit);

-  size_spin = new QSpinBox(this);
+  form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
  // TODO: limit the maximum?
  size_spin->setMinimum(1);
  size_spin->setValue(size);
-  form_layout->addRow(tr("Size"), size_spin);

+  form_layout->addRow(tr("Node"), node = new QLineEdit(this));
+  node->setValidator(new NameValidator(name_edit));
  form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
+
  if (auto msg = dbc()->msg(msg_id)) {
+    node->setText(msg->transmitter);
    comment_edit->setText(msg->comment);
  }
-
-  btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
  validateName(name_edit->text());
-  form_layout->addRow(btn_box);
-
  setFixedWidth(parent->width() * 0.9);
  connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
  connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@ -21,6 +21,7 @@ public:
  QString original_name;
  QDialogButtonBox *btn_box;
  QLineEdit *name_edit;
+  QLineEdit *node;
  QTextEdit *comment_edit;
  QLabel *error_label;
  QSpinBox *size_spin;
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@ -439,11 +439,11 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
  if (!dbc_file->filename.isEmpty()) {
    dbc_file->save();
    updateLoadSaveMenus();
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved"), 2000);
  } else if (!dbc_file->isEmpty()) {
    saveFileAs(dbc_file);
  }
-  UndoStack::instance()->setClean();
-  statusBar()->showMessage(tr("File saved"), 2000);
 }

 void MainWindow::saveFileAs(DBCFile *dbc_file) {
@ -451,6 +451,8 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
  if (!fn.isEmpty()) {
    dbc_file->saveAs(fn);
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
    updateRecentFiles(fn);
    updateLoadSaveMenus();
  }
@ -606,7 +608,13 @@ void MainWindow::closeEvent(QCloseEvent *event) {
    settings.video_splitter_state = video_splitter->saveState();
  }
  settings.message_header_state = messages_widget->saveHeaderState();
-  settings.save();
+
+  auto status = settings.save();
+  if (status == QSettings::AccessError) {
+    QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath());
+    qDebug() << error;
+    QMessageBox::warning(this, tr("Failed to write settings"), error);
+  }
  QWidget::closeEvent(event);
 }

--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@ -6,19 +6,14 @@
 #include <QFileDialog>
 #include <QFormLayout>
 #include <QPushButton>
-#include <QSettings>
 #include <QStandardPaths>

 #include "tools/cabana/util.h"

 Settings settings;

-Settings::Settings() {
-  load();
-}
-
-void Settings::save() {
-  QSettings s("settings", QSettings::IniFormat);
+QSettings::Status Settings::save() {
+  QSettings s(filePath(), QSettings::IniFormat);
  s.setValue("fps", fps);
  s.setValue("max_cached_minutes", max_cached_minutes);
  s.setValue("chart_height", chart_height);
@ -39,10 +34,12 @@ void Settings::save() {
  s.setValue("log_path", log_path);
  s.setValue("drag_direction", drag_direction);
  s.setValue("suppress_defined_signals", suppress_defined_signals);
+  s.sync();
+  return s.status();
 }

 void Settings::load() {
-  QSettings s("settings", QSettings::IniFormat);
+  QSettings s(filePath(), QSettings::IniFormat);
  fps = s.value("fps", 10).toInt();
  max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
  chart_height = s.value("chart_height", 200).toInt();
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@ -1,11 +1,13 @@
 #pragma once

+#include <QApplication>
 #include <QByteArray>
 #include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
 #include <QGroupBox>
 #include <QLineEdit>
+#include <QSettings>
 #include <QSpinBox>

 #define LIGHT_THEME 1
@ -22,9 +24,10 @@ public:
    AlwaysBE,
  };

-  Settings();
-  void save();
+  Settings() {}
+  QSettings::Status save();
  void load();
+  inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; }

  int fps = 10;
  int max_cached_minutes = 30;
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@ -36,7 +36,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
  Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
  parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
+  QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
                   "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
  for (int i = 0; i < std::size(titles); ++i) {
    item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
@ -134,6 +134,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
          case Item::Sig: return item->sig_val;
          case Item::Name: return item->sig->name;
          case Item::Size: return item->sig->size;
+          case Item::Node: return item->sig->receiver_name;
          case Item::SignalType: return signalTypeToString(item->sig->type);
          case Item::MultiplexValue: return item->sig->multiplex_value;
          case Item::Offset: return doubleToString(item->sig->offset);
@ -172,6 +173,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
  switch (item->type) {
    case Item::Name: s.name = value.toString(); break;
    case Item::Size: s.size = value.toInt(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
    case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
    case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
    case Item::Endian: s.is_little_endian = value.toBool(); break;
@ -195,11 +197,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) {
  if (item->type == Item::ExtraInfo) {
    if (!item->parent->extra_expanded) {
      item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), 7, 13);
+      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
      endInsertRows();
    } else {
      item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), 7, 13);
+      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
      endRemoveRows();
    }
  }
@ -267,6 +269,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {

 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
  name_validator = new NameValidator(this);
+  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
  double_validator = new DoubleValidator(this);

  label_font.setPointSize(8);
@ -382,12 +385,14 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op

 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
  auto item = (SignalModel::Item *)index.internalPointer();
-  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset ||
      item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
      item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
    QLineEdit *e = new QLineEdit(parent);
    e->setFrame(false);
-    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
+    if (item->type == SignalModel::Item::Name) e->setValidator(name_validator);
+    else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
+    else e->setValidator(double_validator);

    if (item->type == SignalModel::Item::Name) {
      QCompleter *completer = new QCompleter(dbc()->signalNames());
@ -395,7 +400,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
      completer->setFilterMode(Qt::MatchContains);
      e->setCompleter(completer);
    }
-
    return e;
  } else if (item->type == SignalModel::Item::Size) {
    QSpinBox *spin = new QSpinBox(parent);
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@ -17,7 +17,7 @@ class SignalModel : public QAbstractItemModel {
  Q_OBJECT
 public:
  struct Item {
-    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
    ~Item() { qDeleteAll(children); }
    inline int row() { return parent->children.indexOf(this); }

@ -87,7 +87,7 @@ public:
  void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
  void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;

-  QValidator *name_validator, *double_validator;
+  QValidator *name_validator, *double_validator, *node_validator;
  QFont label_font, minmax_font;
  const int color_label_width = 18;
  mutable QSize button_size;
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@ -30,7 +30,7 @@ struct CanData {
  std::vector<std::array<uint32_t, 8>> bit_change_counts;
  std::vector<int> last_delta;
  std::vector<int> same_delta_counter;
-  double last_freq_update_ts = seconds_since_boot();
+  double last_freq_update_ts = 0;
 };

 struct CanEvent {
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@ -6,8 +6,7 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"

-// demo route, first segment
-const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2";
+const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";

 TEST_CASE("DBCFile::generateDBC") {
  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@ -1,7 +1,6 @@
 #include "tools/cabana/util.h"

 #include <algorithm>
-#include <array>
 #include <csignal>
 #include <limits>
 #include <memory>
@ -56,6 +55,10 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
 MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
  fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
  byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, fixed_font);
+  }
 }

 int MessageBytesDelegate::widthForBytes(int n) const {
@ -107,7 +110,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
    } else if (option.state & QStyle::State_Selected) {
      painter->setPen(option.palette.color(QPalette::HighlightedText));
    }
-    painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
+    utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]);
  }
  painter->setFont(old_font);
  painter->setPen(old_pen);
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@ -1,5 +1,6 @@
 #pragma once

+#include <array>
 #include <cmath>
 #include <deque>
 #include <vector>
@ -10,8 +11,10 @@
 #include <QDateTime>
 #include <QDoubleValidator>
 #include <QFont>
+#include <QPainter>
 #include <QRegExpValidator>
 #include <QSocketNotifier>
+#include <QStaticText>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
@ -75,6 +78,7 @@ public:
  int widthForBytes(int n) const;

 private:
+  std::array<QStaticText, 256> hex_text_table;
  QFont fixed_font;
  QSize byte_size = {};
  bool multiple_lines = false;
@ -102,6 +106,10 @@ void setTheme(int theme);
 inline QString formatSeconds(int seconds) {
  return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
+inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
+  auto size = (r.size() - text.size()) / 2;
+  p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
+}
 }

 class ToolButton : public QToolButton {
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@ -35,13 +35,24 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
  }

  // btn controls
+  QButtonGroup *group = new QButtonGroup(this);
+  group->setExclusive(true);
+
  QHBoxLayout *control_layout = new QHBoxLayout();
  play_btn = new QPushButton();
  play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
  control_layout->addWidget(play_btn);
+  if (can->liveStreaming()) {
+    control_layout->addWidget(skip_to_end_btn = new QPushButton(utils::icon("skip-end-fill"), {}));
+    skip_to_end_btn->setToolTip(tr("Skip to the end"));
+    QObject::connect(skip_to_end_btn, &QPushButton::clicked, [group]() {
+      // set speed to 1.0
+      group->buttons()[2]->click();
+      can->pause(false);
+      can->seekTo(can->totalSeconds() + 1);
+    });
+  }

-  QButtonGroup *group = new QButtonGroup(this);
-  group->setExclusive(true);
  for (float speed : {0.1, 0.5, 1., 2.}) {
    QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
    btn->setCheckable(true);
@ -121,7 +132,10 @@ void VideoWidget::setMaximumTime(double sec) {
 }

 void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
-  if (can->liveStreaming()) return;
+  if (can->liveStreaming()) {
+    skip_to_end_btn->setEnabled(!is_zoomed);
+    return;
+  }

  if (!is_zoomed) {
    min = 0;
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@ -81,6 +81,7 @@ protected:
  QLabel *end_time_label;
  QLabel *time_label;
  QPushButton *play_btn;
+  QPushButton *skip_to_end_btn = nullptr;
  InfoLabel *alert_label;
  Slider *slider;
 };
--- a/tools/lib/auth_config.py
+++ b/tools/lib/auth_config.py
@ -13,9 +13,6 @@ if PC:
 else:
  CONFIG_DIR = "/tmp/.comma"

-mkdirs_exists_ok(CONFIG_DIR)
-
-
 def get_token():
  try:
    with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
@ -26,9 +23,13 @@ def get_token():


 def set_token(token):
+  mkdirs_exists_ok(CONFIG_DIR)
  with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f:
    json.dump({'access_token': token}, f)


 def clear_token():
-  os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  try:
+    os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  except FileNotFoundError:
+    pass
--- a/tools/lib/cache.py
+++ b/tools/lib/cache.py
@ -2,10 +2,10 @@ import os
 import urllib.parse
 from openpilot.common.file_helpers import mkdirs_exists_ok

-DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
+DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache"))

-def cache_path_for_file_path(fn, cache_prefix=None):
-  dir_ = os.path.join(DEFAULT_CACHE_DIR, "local")
+def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR):
+  dir_ = os.path.join(cache_dir, "local")
  mkdirs_exists_ok(dir_)
  fn_parsed = urllib.parse.urlparse(fn)
  if fn_parsed.scheme == '':
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@ -12,7 +12,7 @@ import numpy as np
 from lru import LRU

 import _io
-from openpilot.tools.lib.cache import cache_path_for_file_path
+from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
 from openpilot.tools.lib.exceptions import DataUnreadableError
 from openpilot.common.file_helpers import atomic_write_in_dir

@ -106,8 +106,8 @@ def cache_fn(func):
    if kwargs.pop('no_cache', None):
      cache_path = None
    else:
-      cache_prefix = kwargs.pop('cache_prefix', None)
-      cache_path = cache_path_for_file_path(fn, cache_prefix)
+      cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR)
+      cache_path = cache_path_for_file_path(fn, cache_dir)

    if cache_path and os.path.exists(cache_path):
      with open(cache_path, "rb") as cache_file:
@ -140,18 +140,18 @@ def index_stream(fn, typ):
  }


-def index_videos(camera_paths, cache_prefix=None):
+def index_videos(camera_paths, cache_dir=DEFAULT_CACHE_DIR):
  """Requires that paths in camera_paths are contiguous and of the same type."""
  if len(camera_paths) < 1:
    raise ValueError("must provide at least one video to index")

  frame_type = fingerprint_video(camera_paths[0])
  for fn in camera_paths:
-    index_video(fn, frame_type, cache_prefix)
+    index_video(fn, frame_type, cache_dir)


-def index_video(fn, frame_type=None, cache_prefix=None):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
+def index_video(fn, frame_type=None, cache_dir=DEFAULT_CACHE_DIR):
+  cache_path = cache_path_for_file_path(fn, cache_dir)

  if os.path.exists(cache_path):
    return
@ -160,16 +160,16 @@ def index_video(fn, frame_type=None, cache_prefix=None):
    frame_type = fingerprint_video(fn[0])

  if frame_type == FrameType.h265_stream:
-    index_stream(fn, "hevc", cache_prefix=cache_prefix)
+    index_stream(fn, "hevc", cache_dir=cache_dir)
  else:
    raise NotImplementedError("Only h265 supported")


-def get_video_index(fn, frame_type, cache_prefix=None):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
+def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR):
+  cache_path = cache_path_for_file_path(fn, cache_dir)

  if not os.path.exists(cache_path):
-    index_video(fn, frame_type, cache_prefix)
+    index_video(fn, frame_type, cache_dir)

  if not os.path.exists(cache_path):
    return None
@ -284,13 +284,13 @@ class BaseFrameReader:
    raise NotImplementedError


-def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None):
+def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None):
  frame_type = fingerprint_video(fn)
  if frame_type == FrameType.raw:
    return RawFrameReader(fn)
  elif frame_type in (FrameType.h265_stream,):
    if not index_data:
-      index_data = get_video_index(fn, frame_type, cache_prefix)
+      index_data = get_video_index(fn, frame_type, cache_dir)
    return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
  else:
    raise NotImplementedError(frame_type)
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@ -2,6 +2,20 @@

 set -e

+if [ -z "$SKIP_PROMPT" ]; then
+  echo "---------------   macOS support   ---------------"
+  echo "Running openpilot natively on macOS is not officially supported."
+  echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
+  echo 
+  echo "Check out devcontainers for a seamless experience (see tools/README.md)."
+  echo "-------------------------------------------------"
+  echo -n "Are you sure you want to continue? [y/N] "
+  read -r response
+  if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
+    exit 1
+  fi
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)
@ -74,6 +88,27 @@ export PYCURL_SSL_LIBRARY=openssl
 $DIR/install_python_dependencies.sh
 echo "[ ] installed python dependencies t=$SECONDS"

+# brew does not link qt5 by default
+# check if qt5 can be linked, if not, prompt the user to link it
+QT_BIN_LOCATION="$(command -v lupdate || :)"
+if [ -n "$QT_BIN_LOCATION" ]; then
+  # if qt6 is linked, prompt the user to unlink it and link the right version
+  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
+  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
+    echo
+    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
+    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
+      echo "Run the following command to link qt5:"
+      echo "brew unlink qt@6 && brew link qt@5"
+    else
+      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
+      echo "brew link qt@5"
+    fi
+  fi
+else
+  brew link qt@5
+fi
+
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
 echo "Open a new shell or configure your active shell env by running:"
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@ -12,7 +12,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";

-bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
+bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
  do {
    if (httpDownload(url, local_file, chunk_size)) {
      return true;
@ -29,7 +29,7 @@ TEST_CASE("httpMultiPartDownload") {
  const size_t chunk_size = 5 * 1024 * 1024;
  std::string content;
  SECTION("download to file") {
-    REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size));
+    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
    content = util::read_file(filename);
  }
  SECTION("download to buffer") {
@ -110,23 +110,36 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
  loop.exec();
 }

-TEST_CASE("Route") {
-  // Create a local route from remote for testing
-  Route remote_route(DEMO_ROUTE);
-  REQUIRE(remote_route.load());
-  char tmp_path[] = "/tmp/root_XXXXXX";
-  const std::string data_dir = mkdtemp(tmp_path);
-  const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
-  for (int i = 0; i < 2; ++i) {
-    std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
-    util::create_directories(log_path, 0755);
-    REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
-    REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+std::string download_demo_route() {
+  static std::string data_dir;
+
+  if (data_dir == "") {
+    char tmp_path[] = "/tmp/root_XXXXXX";
+    data_dir = mkdtemp(tmp_path);
+
+    Route remote_route(DEMO_ROUTE);
+    assert(remote_route.load());
+
+    // Create a local route from remote for testing
+    const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
+    for (int i = 0; i < 2; ++i) {
+      std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
+      util::create_directories(log_path, 0755);
+      REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
+      REQUIRE(download_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+    }
  }

+  return data_dir;
+}
+
+
+TEST_CASE("Route") {
+  std::string data_dir = download_demo_route();
+
  SECTION("Local route") {
    auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
    Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@ -4,6 +4,7 @@
 #include <curl/curl.h>
 #include <openssl/sha.h>

+#include <cstdarg>
 #include <cstring>
 #include <cassert>
 #include <cmath>
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@ -1,561 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import math
-import os
-import signal
-import threading
-import time
-from multiprocessing import Process, Queue
-from typing import Any
-
-import carla
-import numpy as np
-import pyopencl as cl
-import pyopencl.array as cl_array
-
-import cereal.messaging as messaging
-from cereal import log
-from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_DMON, Ratekeeper
-from openpilot.selfdrive.car.honda.values import CruiseButtons
-from openpilot.selfdrive.test.helpers import set_params_enabled
-from openpilot.tools.sim.lib.can import can_function
-
-W, H = 1928, 1208
-REPEAT_COUNTER = 5
-PRINT_DECIMATION = 100
-STEER_RATIO = 15.
-
-pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'accelerometer', 'gyroscope', 'can', "gpsLocationExternal"])
-sm = messaging.SubMaster(['carControl', 'controlsState'])
-
-def parse_args(add_args=None):
-  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
-  parser.add_argument('--joystick', action='store_true')
-  parser.add_argument('--high_quality', action='store_true')
-  parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--town', type=str, default='Town04_Opt')
-  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
-  parser.add_argument('--host', dest='host', type=str, default='127.0.0.1')
-  parser.add_argument('--port', dest='port', type=int, default=2000)
-
-  return parser.parse_args(add_args)
-
-
-class VehicleState:
-  def __init__(self):
-    self.speed = 0.0
-    self.angle = 0.0
-    self.bearing_deg = 0.0
-    self.vel = carla.Vector3D()
-    self.cruise_button = 0
-    self.is_engaged = False
-    self.ignition = True
-
-
-def steer_rate_limit(old, new):
-  # Rate limiting to 0.5 degrees per step
-  limit = 0.5
-  if new > old + limit:
-    return old + limit
-  elif new < old - limit:
-    return old - limit
-  else:
-    return new
-
-
-class Camerad:
-  def __init__(self, dual_camera):
-    self.frame_road_id = 0
-    self.frame_wide_id = 0
-    self.vipc_server = VisionIpcServer("camerad")
-
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
-    if dual_camera:
-      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
-    self.vipc_server.start_listener()
-
-    # set up for pyopencl rgb to yuv conversion
-    self.ctx = cl.create_some_context()
-    self.queue = cl.CommandQueue(self.ctx)
-    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
-
-    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
-    with open(kernel_fn) as f:
-      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
-      self.krnl = prg.rgb_to_nv12
-    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
-    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
-
-  def cam_callback_road(self, image):
-    self._cam_callback(image, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
-    self.frame_road_id += 1
-
-  def cam_callback_wide_road(self, image):
-    self._cam_callback(image, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
-    self.frame_wide_id += 1
-
-  def _cam_callback(self, image, frame_id, pub_type, yuv_type):
-    img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-    img = np.reshape(img, (H, W, 4))
-    img = img[:, :, [0, 1, 2]].copy()
-
-    # convert RGB frame to YUV
-    rgb = np.reshape(img, (H, W * 3))
-    rgb_cl = cl_array.to_device(self.queue, rgb)
-    yuv_cl = cl_array.empty_like(rgb_cl)
-    self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
-    eof = int(frame_id * 0.05 * 1e9)
-
-    self.vipc_server.send(yuv_type, yuv.data.tobytes(), frame_id, eof, eof)
-
-    dat = messaging.new_message(pub_type)
-    msg = {
-      "frameId": frame_id,
-      "transform": [1.0, 0.0, 0.0,
-                    0.0, 1.0, 0.0,
-                    0.0, 0.0, 1.0]
-    }
-    setattr(dat, pub_type, msg)
-    pm.send(pub_type, dat)
-
-def imu_callback(imu, vehicle_state):
-  # send 5x since 'sensor_tick' doesn't seem to work. limited by the world tick?
-  for _ in range(5):
-    vehicle_state.bearing_deg = math.degrees(imu.compass)
-    dat = messaging.new_message('accelerometer')
-    dat.accelerometer.sensor = 4
-    dat.accelerometer.type = 0x10
-    dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
-    dat.accelerometer.init('acceleration')
-    dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
-    pm.send('accelerometer', dat)
-
-    # copied these numbers from locationd
-    dat = messaging.new_message('gyroscope')
-    dat.gyroscope.sensor = 5
-    dat.gyroscope.type = 0x10
-    dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
-    dat.gyroscope.init('gyroUncalibrated')
-    dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
-    pm.send('gyroscope', dat)
-    time.sleep(0.01)
-
-
-def panda_state_function(vs: VehicleState, exit_event: threading.Event):
-  pm = messaging.PubMaster(['pandaStates'])
-  while not exit_event.is_set():
-    dat = messaging.new_message('pandaStates', 1)
-    dat.valid = True
-    dat.pandaStates[0] = {
-      'ignitionLine': vs.ignition,
-      'pandaType': "blackPanda",
-      'controlsAllowed': True,
-      'safetyModel': 'hondaNidec'
-    }
-    pm.send('pandaStates', dat)
-    time.sleep(0.5)
-
-
-def peripheral_state_function(exit_event: threading.Event):
-  pm = messaging.PubMaster(['peripheralState'])
-  while not exit_event.is_set():
-    dat = messaging.new_message('peripheralState')
-    dat.valid = True
-    # fake peripheral state data
-    dat.peripheralState = {
-      'pandaType': log.PandaState.PandaType.blackPanda,
-      'voltage': 12000,
-      'current': 5678,
-      'fanSpeedRpm': 1000
-    }
-    pm.send('peripheralState', dat)
-    time.sleep(0.5)
-
-
-def gps_callback(gps, vehicle_state):
-  dat = messaging.new_message('gpsLocationExternal')
-
-  # transform vel from carla to NED
-  # north is -Y in CARLA
-  velNED = [
-    -vehicle_state.vel.y,  # north/south component of NED is negative when moving south
-    vehicle_state.vel.x,  # positive when moving east, which is x in carla
-    vehicle_state.vel.z,
-  ]
-
-  dat.gpsLocationExternal = {
-    "unixTimestampMillis": int(time.time() * 1000),
-    "flags": 1,  # valid fix
-    "accuracy": 1.0,
-    "verticalAccuracy": 1.0,
-    "speedAccuracy": 0.1,
-    "bearingAccuracyDeg": 0.1,
-    "vNED": velNED,
-    "bearingDeg": vehicle_state.bearing_deg,
-    "latitude": gps.latitude,
-    "longitude": gps.longitude,
-    "altitude": gps.altitude,
-    "speed": vehicle_state.speed,
-    "source": log.GpsLocationData.SensorSource.ublox,
-  }
-
-  pm.send('gpsLocationExternal', dat)
-
-
-def fake_driver_monitoring(exit_event: threading.Event):
-  pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
-  while not exit_event.is_set():
-    # dmonitoringmodeld output
-    dat = messaging.new_message('driverStateV2')
-    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
-    dat.driverStateV2.leftDriverData.faceProb = 1.0
-    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
-    dat.driverStateV2.rightDriverData.faceProb = 1.0
-    pm.send('driverStateV2', dat)
-
-    # dmonitoringd output
-    dat = messaging.new_message('driverMonitoringState')
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
-    pm.send('driverMonitoringState', dat)
-
-    time.sleep(DT_DMON)
-
-
-def can_function_runner(vs: VehicleState, exit_event: threading.Event):
-  i = 0
-  while not exit_event.is_set():
-    can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
-    time.sleep(0.01)
-    i += 1
-
-
-def connect_carla_client(host: str, port: int):
-  client = carla.Client(host, port)
-  client.set_timeout(5)
-  return client
-
-
-class CarlaBridge:
-
-  def __init__(self, arguments):
-    set_params_enabled()
-
-    self.params = Params()
-
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = 20
-    msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-    self.params.put("CalibrationParams", msg.to_bytes())
-    self.params.put_bool("DisengageOnAccelerator", True)
-
-    self._args = arguments
-    self._carla_objects = []
-    self._camerad = None
-    self._exit_event = threading.Event()
-    self._threads = []
-    self._keep_alive = True
-    self.started = False
-    signal.signal(signal.SIGTERM, self._on_shutdown)
-    self._exit = threading.Event()
-
-  def _on_shutdown(self, signal, frame):
-    self._keep_alive = False
-
-  def bridge_keep_alive(self, q: Queue, retries: int):
-    try:
-      while self._keep_alive:
-        try:
-          self._run(q)
-          break
-        except RuntimeError as e:
-          self.close()
-          if retries == 0:
-            raise
-
-          # Reset for another try
-          self._carla_objects = []
-          self._threads = []
-          self._exit_event = threading.Event()
-
-          retries -= 1
-          if retries <= -1:
-            print(f"Restarting bridge. Error: {e} ")
-          else:
-            print(f"Restarting bridge. Retries left {retries}. Error: {e} ")
-    finally:
-      # Clean up resources in the opposite order they were created.
-      self.close()
-
-  def _run(self, q: Queue):
-    client = connect_carla_client(self._args.host, self._args.port)
-    world = client.load_world(self._args.town)
-
-    settings = world.get_settings()
-    settings.synchronous_mode = True  # Enables synchronous mode
-    settings.fixed_delta_seconds = 0.05
-    world.apply_settings(settings)
-
-    world.set_weather(carla.WeatherParameters.ClearSunset)
-
-    if not self._args.high_quality:
-      world.unload_map_layer(carla.MapLayer.Foliage)
-      world.unload_map_layer(carla.MapLayer.Buildings)
-      world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-      world.unload_map_layer(carla.MapLayer.Props)
-      world.unload_map_layer(carla.MapLayer.StreetLights)
-      world.unload_map_layer(carla.MapLayer.Particles)
-
-    blueprint_library = world.get_blueprint_library()
-
-    world_map = world.get_map()
-
-    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
-    vehicle_bp.set_attribute('role_name', 'hero')
-    spawn_points = world_map.get_spawn_points()
-    assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and
-      {len(spawn_points)} for this town.'''
-    spawn_point = spawn_points[self._args.num_selected_spawn_point]
-    vehicle = world.spawn_actor(vehicle_bp, spawn_point)
-    self._carla_objects.append(vehicle)
-    max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
-
-    # make tires less slippery
-    # wheel_control = carla.WheelPhysicsControl(tire_friction=5)
-    physics_control = vehicle.get_physics_control()
-    physics_control.mass = 2326
-    # physics_control.wheels = [wheel_control]*4
-    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
-    physics_control.gear_switch_time = 0.0
-    vehicle.apply_physics_control(physics_control)
-
-    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
-
-    def create_camera(fov, callback):
-      blueprint = blueprint_library.find('sensor.camera.rgb')
-      blueprint.set_attribute('image_size_x', str(W))
-      blueprint.set_attribute('image_size_y', str(H))
-      blueprint.set_attribute('fov', str(fov))
-      if not self._args.high_quality:
-        blueprint.set_attribute('enable_postprocess_effects', 'False')
-      camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
-      camera.listen(callback)
-      return camera
-
-    self._camerad = Camerad(self._args.dual_camera)
-
-    if self._args.dual_camera:
-      road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-      self._carla_objects.append(road_wide_camera)
-    road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
-    self._carla_objects.append(road_camera)
-
-    vehicle_state = VehicleState()
-
-    # re-enable IMU
-    imu_bp = blueprint_library.find('sensor.other.imu')
-    imu_bp.set_attribute('sensor_tick', '0.01')
-    imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
-    imu.listen(lambda imu: imu_callback(imu, vehicle_state))
-
-    gps_bp = blueprint_library.find('sensor.other.gnss')
-    gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
-    gps.listen(lambda gps: gps_callback(gps, vehicle_state))
-    self.params.put_bool("UbloxAvailable", True)
-
-    self._carla_objects.extend([imu, gps])
-    # launch fake car threads
-    self._threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, self._exit_event,)))
-    self._threads.append(threading.Thread(target=peripheral_state_function, args=(self._exit_event,)))
-    self._threads.append(threading.Thread(target=fake_driver_monitoring, args=(self._exit_event,)))
-    self._threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, self._exit_event,)))
-    for t in self._threads:
-      t.start()
-
-    # init
-    throttle_ease_out_counter = REPEAT_COUNTER
-    brake_ease_out_counter = REPEAT_COUNTER
-    steer_ease_out_counter = REPEAT_COUNTER
-
-    vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
-
-    is_openpilot_engaged = False
-    throttle_out = steer_out = brake_out = 0.
-    throttle_op = steer_op = brake_op = 0.
-    throttle_manual = steer_manual = brake_manual = 0.
-
-    old_steer = old_brake = old_throttle = 0.
-    throttle_manual_multiplier = 0.7  # keyboard signal is always 1
-    brake_manual_multiplier = 0.7  # keyboard signal is always 1
-    steer_manual_multiplier = 45 * STEER_RATIO  # keyboard signal is always 1
-
-    # Simulation tends to be slow in the initial steps. This prevents lagging later
-    for _ in range(20):
-      world.tick()
-
-    # loop
-    rk = Ratekeeper(100, print_delay_threshold=0.05)
-
-    while self._keep_alive:
-      # 1. Read the throttle, steer and brake from op or manual controls
-      # 2. Set instructions in Carla
-      # 3. Send current carstate to op via can
-
-      cruise_button = 0
-      throttle_out = steer_out = brake_out = 0.0
-      throttle_op = steer_op = brake_op = 0.0
-      throttle_manual = steer_manual = brake_manual = 0.0
-
-      # --------------Step 1-------------------------------
-      if not q.empty():
-        message = q.get()
-        m = message.split('_')
-        if m[0] == "steer":
-          steer_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "throttle":
-          throttle_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "brake":
-          brake_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "reverse":
-          cruise_button = CruiseButtons.CANCEL
-          is_openpilot_engaged = False
-        elif m[0] == "cruise":
-          if m[1] == "down":
-            cruise_button = CruiseButtons.DECEL_SET
-            is_openpilot_engaged = True
-          elif m[1] == "up":
-            cruise_button = CruiseButtons.RES_ACCEL
-            is_openpilot_engaged = True
-          elif m[1] == "cancel":
-            cruise_button = CruiseButtons.CANCEL
-            is_openpilot_engaged = False
-        elif m[0] == "ignition":
-          vehicle_state.ignition = not vehicle_state.ignition
-        elif m[0] == "quit":
-          break
-
-        throttle_out = throttle_manual * throttle_manual_multiplier
-        steer_out = steer_manual * steer_manual_multiplier
-        brake_out = brake_manual * brake_manual_multiplier
-
-        old_steer = steer_out
-        old_throttle = throttle_out
-        old_brake = brake_out
-
-      if is_openpilot_engaged:
-        sm.update(0)
-
-        # TODO gas and brake is deprecated
-        throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
-        brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-        steer_op = sm['carControl'].actuators.steeringAngleDeg
-
-        throttle_out = throttle_op
-        steer_out = steer_op
-        brake_out = brake_op
-
-        steer_out = steer_rate_limit(old_steer, steer_out)
-        old_steer = steer_out
-
-      else:
-        if throttle_out == 0 and old_throttle > 0:
-          if throttle_ease_out_counter > 0:
-            throttle_out = old_throttle
-            throttle_ease_out_counter += -1
-          else:
-            throttle_ease_out_counter = REPEAT_COUNTER
-            old_throttle = 0
-
-        if brake_out == 0 and old_brake > 0:
-          if brake_ease_out_counter > 0:
-            brake_out = old_brake
-            brake_ease_out_counter += -1
-          else:
-            brake_ease_out_counter = REPEAT_COUNTER
-            old_brake = 0
-
-        if steer_out == 0 and old_steer != 0:
-          if steer_ease_out_counter > 0:
-            steer_out = old_steer
-            steer_ease_out_counter += -1
-          else:
-            steer_ease_out_counter = REPEAT_COUNTER
-            old_steer = 0
-
-      # --------------Step 2-------------------------------
-      steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
-
-      steer_carla = np.clip(steer_carla, -1, 1)
-      steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
-      old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
-
-      vc.throttle = throttle_out / 0.6
-      vc.steer = steer_carla
-      vc.brake = brake_out
-      vehicle.apply_control(vc)
-
-      # --------------Step 3-------------------------------
-      vel = vehicle.get_velocity()
-      speed = math.sqrt(vel.x ** 2 + vel.y ** 2 + vel.z ** 2)  # in m/s
-      vehicle_state.speed = speed
-      vehicle_state.vel = vel
-      vehicle_state.angle = steer_out
-      vehicle_state.cruise_button = cruise_button
-      vehicle_state.is_engaged = is_openpilot_engaged
-
-      if rk.frame % PRINT_DECIMATION == 0:
-        print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ",
-              round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))
-
-      if rk.frame % 5 == 0:
-        world.tick()
-      rk.keep_time()
-      self.started = True
-
-  def close(self):
-    self.started = False
-    self._exit_event.set()
-
-    for s in self._carla_objects:
-      try:
-        s.destroy()
-      except Exception as e:
-        print("Failed to destroy carla object", e)
-    for t in reversed(self._threads):
-      t.join()
-
-  def run(self, queue, retries=-1):
-    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
-    bridge_p.start()
-    return bridge_p
-
-
-if __name__ == "__main__":
-  q: Any = Queue()
-  args = parse_args()
-
-  carla_bridge = CarlaBridge(args)
-  p = carla_bridge.run(q)
-
-  if args.joystick:
-    # start input poll for joystick
-    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
-
-    wheel_poll_thread(q)
-  else:
-    # start input poll for keyboard
-    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
-
-    keyboard_poll_thread(q)
-  p.join()
--- a/tools/sim/bridge/init.py
+++ b/tools/sim/bridge/init.py
--- a/tools/sim/bridge/carla.py
+++ b/tools/sim/bridge/carla.py
@ -0,0 +1,163 @@
+import numpy as np
+
+from openpilot.common.params import Params
+from openpilot.tools.sim.lib.common import SimulatorState, vec3
+from openpilot.tools.sim.bridge.common import World, SimulatorBridge
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+class CarlaWorld(World):
+  def __init__(self, world, vehicle, high_quality=False, dual_camera=False):
+    super().__init__(dual_camera)
+    import carla
+    self.world = world
+    self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
+    self.vehicle = vehicle
+    self.max_steer_angle: float = vehicle.get_physics_control().wheels[0].max_steer_angle
+    self.params = Params()
+
+    self.steer_ratio = 15
+
+    self.carla_objects = []
+
+    blueprint_library = self.world.get_blueprint_library()
+    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
+
+    def create_camera(fov, callback):
+      blueprint = blueprint_library.find('sensor.camera.rgb')
+      blueprint.set_attribute('image_size_x', str(W))
+      blueprint.set_attribute('image_size_y', str(H))
+      blueprint.set_attribute('fov', str(fov))
+      blueprint.set_attribute('sensor_tick', str(1/20))
+      if not high_quality:
+        blueprint.set_attribute('enable_postprocess_effects', 'False')
+      camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
+      camera.listen(callback)
+      return camera
+
+    self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
+    if dual_camera:
+      self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
+    else:
+      self.road_wide_camera = None
+
+    # re-enable IMU
+    imu_bp = blueprint_library.find('sensor.other.imu')
+    imu_bp.set_attribute('sensor_tick', '0.01')
+    self.imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
+
+    gps_bp = blueprint_library.find('sensor.other.gnss')
+    self.gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
+    self.params.put_bool("UbloxAvailable", True)
+
+    self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera]
+
+  def close(self):
+    for s in self.carla_objects:
+      if s is not None:
+        try:
+          s.destroy()
+        except Exception as e:
+          print("Failed to destroy carla object", e)
+
+  def carla_image_to_rgb(self, image):
+    rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+    rgb = np.reshape(rgb, (H, W, 4))
+    return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
+
+  def cam_callback_road(self, image):
+    with self.image_lock:
+      self.road_image = self.carla_image_to_rgb(image)
+
+  def cam_callback_wide_road(self, image):
+    with self.image_lock:
+      self.wide_road_image = self.carla_image_to_rgb(image)
+
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    self.vc.throttle = throttle_out
+
+    steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
+    steer_carla = np.clip(steer_carla, -1, 1)
+
+    self.vc.steer = steer_carla
+    self.vc.brake = brake_out
+    self.vehicle.apply_control(self.vc)
+
+  def read_sensors(self, simulator_state: SimulatorState):
+    simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
+
+    simulator_state.imu.accelerometer = vec3(
+      self.imu.get_acceleration().x,
+      self.imu.get_acceleration().y,
+      self.imu.get_acceleration().z
+    )
+
+    simulator_state.imu.gyroscope = vec3(
+      self.imu.get_angular_velocity().x,
+      self.imu.get_angular_velocity().y,
+      self.imu.get_angular_velocity().z
+    )
+
+    simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
+
+    simulator_state.velocity = self.vehicle.get_velocity()
+    simulator_state.valid = True
+    simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
+
+  def read_cameras(self):
+    pass # cameras are read within a callback for carla
+
+  def tick(self):
+    self.world.tick()
+
+
+class CarlaBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    super().__init__(arguments)
+    self.host = arguments.host
+    self.port = arguments.port
+    self.town = arguments.town
+    self.num_selected_spawn_point = arguments.num_selected_spawn_point
+
+  def spawn_world(self):
+    import carla
+    client = carla.Client(self.host, self.port)
+    client.set_timeout(5)
+
+    world = client.load_world(self.town)
+
+    settings = world.get_settings()
+    settings.fixed_delta_seconds = 0.01
+    world.apply_settings(settings)
+
+    world.set_weather(carla.WeatherParameters.ClearSunset)
+
+    if not self.high_quality:
+      world.unload_map_layer(carla.MapLayer.Foliage)
+      world.unload_map_layer(carla.MapLayer.Buildings)
+      world.unload_map_layer(carla.MapLayer.ParkedVehicles)
+      world.unload_map_layer(carla.MapLayer.Props)
+      world.unload_map_layer(carla.MapLayer.StreetLights)
+      world.unload_map_layer(carla.MapLayer.Particles)
+
+    blueprint_library = world.get_blueprint_library()
+
+    world_map = world.get_map()
+
+    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
+    vehicle_bp.set_attribute('role_name', 'hero')
+    spawn_points = world_map.get_spawn_points()
+    assert len(spawn_points) > self.num_selected_spawn_point, \
+      f'''No spawn point {self.num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
+    spawn_point = spawn_points[self.num_selected_spawn_point]
+    vehicle = world.spawn_actor(vehicle_bp, spawn_point)
+
+    physics_control = vehicle.get_physics_control()
+    physics_control.mass = 2326
+    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
+    physics_control.gear_switch_time = 0.0
+    vehicle.apply_physics_control(physics_control)
+
+    return CarlaWorld(world, vehicle, dual_camera=self.dual_camera)
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@ -0,0 +1,163 @@
+import signal
+import threading
+import functools
+
+from multiprocessing import Process, Queue
+from abc import ABC, abstractmethod
+from typing import Optional
+
+import cereal.messaging as messaging
+
+from openpilot.common.params import Params
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import Ratekeeper
+from openpilot.selfdrive.test.helpers import set_params_enabled
+from openpilot.selfdrive.car.honda.values import CruiseButtons
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.simulated_car import SimulatedCar
+from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
+
+
+def rk_loop(function, hz, exit_event: threading.Event):
+  rk = Ratekeeper(hz)
+  while not exit_event.is_set():
+    function()
+    rk.keep_time()
+
+
+class SimulatorBridge(ABC):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    set_params_enabled()
+    self.params = Params()
+
+    self.rk = Ratekeeper(100)
+
+    msg = messaging.new_message('liveCalibration')
+    msg.liveCalibration.validBlocks = 20
+    msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+    self.params.put("CalibrationParams", msg.to_bytes())
+
+    self.dual_camera = arguments.dual_camera
+    self.high_quality = arguments.high_quality
+
+    self._exit_event = threading.Event()
+    self._threads = []
+    self._keep_alive = True
+    self.started = False
+    signal.signal(signal.SIGTERM, self._on_shutdown)
+    self._exit = threading.Event()
+    self.simulator_state = SimulatorState()
+
+    self.world: Optional[World] = None
+
+  def _on_shutdown(self, signal, frame):
+    self.shutdown()
+
+  def shutdown(self):
+    self._keep_alive = False
+
+  def bridge_keep_alive(self, q: Queue, retries: int):
+    try:
+      self._run(q)
+    finally:
+      self.close()
+
+  def close(self):
+    self.started = False
+    self._exit_event.set()
+
+    if self.world is not None:
+      self.world.close()
+
+  def run(self, queue, retries=-1):
+    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
+    bridge_p.start()
+    return bridge_p
+
+  @abstractmethod
+  def spawn_world(self) -> World:
+    pass
+
+  def _run(self, q: Queue):
+    self.world = self.spawn_world()
+
+    self.simulated_car = SimulatedCar()
+    self.simulated_sensors = SimulatedSensors(self.dual_camera)
+
+    self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
+                                                                        100, self._exit_event))
+    self.simulated_car_thread.start()
+
+    rk = Ratekeeper(100, print_delay_threshold=None)
+
+    # Simulation tends to be slow in the initial steps. This prevents lagging later
+    for _ in range(20):
+      self.world.tick()
+
+    throttle_manual = steer_manual = brake_manual = 0.
+
+    while self._keep_alive:
+      throttle_out = steer_out = brake_out = 0.0
+      throttle_op = steer_op = brake_op = 0.0
+
+      self.simulator_state.cruise_button = 0
+
+      throttle_manual = steer_manual = brake_manual = 0.
+
+      # Read manual controls
+      if not q.empty():
+        message = q.get()
+        m = message.split('_')
+        if m[0] == "steer":
+          steer_manual = float(m[1])
+        elif m[0] == "throttle":
+          throttle_manual = float(m[1])
+        elif m[0] == "brake":
+          brake_manual = float(m[1])
+        elif m[0] == "cruise":
+          if m[1] == "down":
+            self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
+          elif m[1] == "up":
+            self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
+          elif m[1] == "cancel":
+            self.simulator_state.cruise_button = CruiseButtons.CANCEL
+          elif m[1] == "main":
+            self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "ignition":
+          self.simulator_state.ignition = not self.simulator_state.ignition
+        elif m[0] == "quit":
+          break
+
+      self.simulator_state.user_brake = brake_manual
+      self.simulator_state.user_gas = throttle_manual
+
+      steer_manual = steer_manual * -40
+
+      # Update openpilot on current sensor state
+      self.simulated_sensors.update(self.simulator_state, self.world)
+
+      is_openpilot_engaged = self.simulated_car.sm['controlsState'].active
+
+      self.simulated_car.sm.update(0)
+
+      if is_openpilot_engaged:
+        throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
+        brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+        steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
+
+      throttle_out = throttle_op if is_openpilot_engaged else throttle_manual
+      brake_out = brake_op if is_openpilot_engaged else brake_manual
+      steer_out = steer_op if is_openpilot_engaged else steer_manual
+
+      self.world.apply_controls(steer_out, throttle_out, brake_out)
+      self.world.read_sensors(self.simulator_state)
+
+      if self.rk.frame % self.TICKS_PER_FRAME == 0:
+        self.world.tick()
+        self.world.read_cameras()
+
+      self.started = True
+
+      rk.keep_time()
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@ -12,5 +12,8 @@ if [[ "$CI" ]]; then
  export BLOCK="${BLOCK},ui"
 fi

+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd ../../selfdrive/manager && exec ./manager.py
+cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@ -0,0 +1,70 @@
+import numpy as np
+import os
+import pyopencl as cl
+import pyopencl.array as cl_array
+
+from cereal.visionipc import VisionIpcServer, VisionStreamType
+from cereal import messaging
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.sim.lib.common import W, H
+
+class Camerad:
+  """Simulates the camerad daemon"""
+  def __init__(self, dual_camera):
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
+
+    self.frame_road_id = 0
+    self.frame_wide_id = 0
+    self.vipc_server = VisionIpcServer("camerad")
+
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
+    if dual_camera:
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+
+    self.vipc_server.start_listener()
+
+    # set up for pyopencl rgb to yuv conversion
+    self.ctx = cl.create_some_context()
+    self.queue = cl.CommandQueue(self.ctx)
+    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
+
+    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
+    with open(kernel_fn) as f:
+      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
+      self.krnl = prg.rgb_to_nv12
+    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
+    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
+
+  def cam_send_yuv_road(self, yuv):
+    self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
+    self.frame_road_id += 1
+
+  def cam_send_yuv_wide_road(self, yuv):
+    self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
+    self.frame_wide_id += 1
+
+  # Returns: yuv bytes
+  def rgb_to_yuv(self, rgb):
+    assert rgb.shape == (H, W, 3), f"{rgb.shape}"
+    assert rgb.dtype == np.uint8
+
+    rgb_cl = cl_array.to_device(self.queue, rgb)
+    yuv_cl = cl_array.empty_like(rgb_cl)
+    self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait()
+    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
+    return yuv.data.tobytes()
+
+  def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
+    eof = int(frame_id * 0.05 * 1e9)
+    self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
+
+    dat = messaging.new_message(pub_type)
+    msg = {
+      "frameId": frame_id,
+      "transform": [1.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+    }
+    setattr(dat, pub_type, msg)
+    self.pm.send(pub_type, dat)
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@ -1,94 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-from opendbc.can.packer import CANPacker
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car import crc8_pedal
-
-packer = CANPacker("honda_civic_touring_2016_can_generated")
-rpacker = CANPacker("acura_ilx_2016_nidec")
-
-
-def get_car_can_parser():
-  dbc_f = 'honda_civic_touring_2016_can_generated'
-  checks = [
-    (0xe4, 100),
-    (0x1fa, 50),
-    (0x200, 50),
-  ]
-  return CANParser(dbc_f, checks, 0)
-cp = get_car_can_parser()
-
-def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
-
-  msg = []
-
-  # *** powertrain bus ***
-
-  speed = speed * 3.6 # convert m/s to kph
-  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
-  msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
-    "WHEEL_SPEED_FL": speed,
-    "WHEEL_SPEED_FR": speed,
-    "WHEEL_SPEED_RL": speed,
-    "WHEEL_SPEED_RR": speed
-  }))
-
-  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}))
-
-  values = {"COUNTER_PEDAL": idx & 0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
-
-  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
-  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
-  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
-  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
-  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
-  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
-  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
-  msg.append(packer.make_can_msg("CRUISE", 0, {}))
-  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
-  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}))
-  msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
-
-  # *** cam bus ***
-  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
-  msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
-  msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
-  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
-
-  # *** radar bus ***
-  if idx % 5 == 0:
-    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
-    for i in range(16):
-      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
-
-  pm.send('can', can_list_to_can_capnp(msg))
-
-def sendcan_function(sendcan):
-  sc = messaging.drain_sock_raw(sendcan)
-  cp.update_strings(sc, sendcan=True)
-
-  if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
-    brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024.
-  else:
-    brake = 0.0
-
-  if cp.vl[0x200]['GAS_COMMAND'] > 0:
-    gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
-  else:
-    gas = 0.0
-
-  if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
-    steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
-  else:
-    steer_torque = 0.0
-
-  return gas, brake, steer_torque
--- a/tools/sim/lib/common.py
+++ b/tools/sim/lib/common.py
@ -0,0 +1,86 @@
+import math
+import threading
+import numpy as np
+
+from abc import ABC, abstractmethod
+from collections import namedtuple
+
+W, H = 1928, 1208
+
+
+vec3 = namedtuple("vec3", ["x", "y", "z"])
+
+class GPSState:
+  def __init__(self):
+    self.latitude = 0
+    self.longitude = 0
+    self.altitude = 0
+
+  def from_xy(self, xy):
+    """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?"""
+    BASE_LAT = 32.75308505188913
+    BASE_LON = -117.2095393365393
+    DEG_TO_METERS = 100000
+
+    self.latitude = float(BASE_LAT + xy[0] / DEG_TO_METERS)
+    self.longitude = float(BASE_LON + xy[1] / DEG_TO_METERS)
+    self.altitude = 0
+
+
+class IMUState:
+  def __init__(self):
+    self.accelerometer: vec3 = vec3(0,0,0)
+    self.gyroscope: vec3 = vec3(0,0,0)
+    self.bearing: float = 0
+
+
+class SimulatorState:
+  def __init__(self):
+    self.valid = False
+    self.is_engaged = False
+    self.ignition = True
+
+    self.velocity: vec3 = None
+    self.bearing: float = 0
+    self.gps = GPSState()
+    self.imu = IMUState()
+
+    self.steering_angle: float = 0
+
+    self.user_gas: float = 0
+    self.user_brake: float = 0
+
+    self.cruise_button = 0
+
+  @property
+  def speed(self):
+    return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)
+
+
+class World(ABC):
+  def __init__(self, dual_camera):
+    self.dual_camera = dual_camera
+
+    self.image_lock = threading.Lock()
+    self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
+    self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
+
+  @abstractmethod
+  def apply_controls(self, steer_sim, throttle_out, brake_out):
+    pass
+
+  @abstractmethod
+  def tick(self):
+    pass
+
+  @abstractmethod
+  def read_sensors(self, simulator_state: SimulatorState):
+    pass
+
+  @abstractmethod
+  def read_cameras(self):
+    pass
+
+  @abstractmethod
+  def close(self):
+    pass
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@ -1,6 +1,7 @@
 import sys
 import termios
 import time
+
 from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
                     ISTRIP, IXON, PARENB, VMIN, VTIME)
 from typing import NoReturn
@ -38,7 +39,6 @@ def getch() -> str:
 def keyboard_poll_thread(q: 'Queue[str]'):
  while True:
    c = getch()
-    print("got %s" % c)
    if c == '1':
      q.put("cruise_up")
    elif c == '2':
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@ -0,0 +1,110 @@
+import cereal.messaging as messaging
+
+from opendbc.can.packer import CANPacker
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.car import crc8_pedal
+from openpilot.tools.sim.lib.common import SimulatorState
+
+
+class SimulatedCar:
+  """Simulates a honda civic 2016 (panda state + can messages) to OpenPilot"""
+  packer = CANPacker("honda_civic_touring_2016_can_generated")
+  rpacker = CANPacker("acura_ilx_2016_nidec")
+
+  def __init__(self):
+    self.pm = messaging.PubMaster(['can', 'pandaStates'])
+    self.sm = messaging.SubMaster(['carControl', 'controlsState'])
+    self.cp = self.get_car_can_parser()
+    self.idx = 0
+
+  @staticmethod
+  def get_car_can_parser():
+    dbc_f = 'honda_civic_touring_2016_can_generated'
+    checks = [
+      (0xe4, 100),
+      (0x1fa, 50),
+      (0x200, 50),
+    ]
+    return CANParser(dbc_f, checks, 0)
+
+  def send_can_messages(self, simulator_state: SimulatorState):
+    if not simulator_state.valid:
+      return
+
+    msg = []
+
+    # *** powertrain bus ***
+
+    speed = simulator_state.speed * 3.6 # convert m/s to kph
+    msg.append(self.packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
+    msg.append(self.packer.make_can_msg("WHEEL_SPEEDS", 0, {
+      "WHEEL_SPEED_FL": speed,
+      "WHEEL_SPEED_FR": speed,
+      "WHEEL_SPEED_RL": speed,
+      "WHEEL_SPEED_RR": speed
+    }))
+
+    msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))
+
+    values = {
+      "COUNTER_PEDAL": self.idx & 0xF,
+      "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12,
+      "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12,
+    }
+    checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1])
+    values["CHECKSUM_PEDAL"] = checksum
+    msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values))
+
+    msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+    msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
+    msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
+    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
+    msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
+    msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
+    msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
+    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+    msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
+                                    {
+                                    "ACC_STATUS": int(simulator_state.is_engaged),
+                                    "PEDAL_GAS": simulator_state.user_gas,
+                                    "BRAKE_PRESSED": simulator_state.user_brake > 0
+                                    }))
+    msg.append(self.packer.make_can_msg("HUD_SETTING", 0, {}))
+    msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {}))
+
+    # *** cam bus ***
+    msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {}))
+    msg.append(self.packer.make_can_msg("ACC_HUD", 2, {}))
+    msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {}))
+    msg.append(self.packer.make_can_msg("BRAKE_COMMAND", 2, {}))
+
+    # *** radar bus ***
+    if self.idx % 5 == 0:
+      msg.append(self.rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
+      for i in range(16):
+        msg.append(self.rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
+
+    self.pm.send('can', can_list_to_can_capnp(msg))
+
+  def send_panda_state(self, simulator_state):
+    dat = messaging.new_message('pandaStates', 1)
+    dat.valid = True
+    dat.pandaStates[0] = {
+      'ignitionLine': simulator_state.ignition,
+      'pandaType': "blackPanda",
+      'controlsAllowed': True,
+      'safetyModel': 'hondaNidec',
+    }
+    self.pm.send('pandaStates', dat)
+
+  def update(self, simulator_state: SimulatorState):
+    self.send_can_messages(simulator_state)
+    self.send_panda_state(simulator_state)
+
+    self.idx += 1
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@ -0,0 +1,127 @@
+import time
+
+from cereal import log
+import cereal.messaging as messaging
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_DMON
+from openpilot.tools.sim.lib.camerad import Camerad
+
+from typing import TYPE_CHECKING
+if TYPE_CHECKING:
+  from openpilot.tools.sim.lib.common import World, SimulatorState
+
+
+class SimulatedSensors:
+  """Simulates the C3 sensors (acc, gyro, gps, peripherals, dm state, cameras) to OpenPilot"""
+
+  def __init__(self, dual_camera=False):
+    self.pm = messaging.PubMaster(['accelerometer', 'gyroscope', 'gpsLocationExternal', 'driverStateV2', 'driverMonitoringState', 'peripheralState'])
+    self.camerad = Camerad(dual_camera=dual_camera)
+    self.last_perp_update = 0
+    self.last_dmon_update = 0
+
+  def send_imu_message(self, simulator_state: 'SimulatorState'):
+    for _ in range(5):
+      dat = messaging.new_message('accelerometer')
+      dat.accelerometer.sensor = 4
+      dat.accelerometer.type = 0x10
+      dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
+      dat.accelerometer.init('acceleration')
+      dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
+      self.pm.send('accelerometer', dat)
+
+      # copied these numbers from locationd
+      dat = messaging.new_message('gyroscope')
+      dat.gyroscope.sensor = 5
+      dat.gyroscope.type = 0x10
+      dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
+      dat.gyroscope.init('gyroUncalibrated')
+      dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]
+      self.pm.send('gyroscope', dat)
+
+  def send_gps_message(self, simulator_state: 'SimulatorState'):
+    if not simulator_state.valid:
+      return
+
+    # transform vel from carla to NED
+    # north is -Y in CARLA
+    velNED = [
+      -simulator_state.velocity.y,  # north/south component of NED is negative when moving south
+      simulator_state.velocity.x,  # positive when moving east, which is x in carla
+      simulator_state.velocity.z,
+    ]
+
+    for _ in range(10):
+      dat = messaging.new_message('gpsLocationExternal')
+      dat.gpsLocationExternal = {
+        "unixTimestampMillis": int(time.time() * 1000),
+        "flags": 1,  # valid fix
+        "accuracy": 1.0,
+        "verticalAccuracy": 1.0,
+        "speedAccuracy": 0.1,
+        "bearingAccuracyDeg": 0.1,
+        "vNED": velNED,
+        "bearingDeg": simulator_state.imu.bearing,
+        "latitude": simulator_state.gps.latitude,
+        "longitude": simulator_state.gps.longitude,
+        "altitude": simulator_state.gps.altitude,
+        "speed": simulator_state.speed,
+        "source": log.GpsLocationData.SensorSource.ublox,
+      }
+
+      self.pm.send('gpsLocationExternal', dat)
+
+  def send_peripheral_state(self):
+    dat = messaging.new_message('peripheralState')
+    dat.valid = True
+    dat.peripheralState = {
+      'pandaType': log.PandaState.PandaType.blackPanda,
+      'voltage': 12000,
+      'current': 5678,
+      'fanSpeedRpm': 1000
+    }
+    Params().put_bool("ObdMultiplexingEnabled", False)
+    self.pm.send('peripheralState', dat)
+
+  def send_fake_driver_monitoring(self):
+    # dmonitoringmodeld output
+    dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.leftDriverData.faceProb = 1.0
+    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.rightDriverData.faceProb = 1.0
+    self.pm.send('driverStateV2', dat)
+
+    # dmonitoringd output
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
+      "faceDetected": True,
+      "isDistracted": False,
+      "awarenessStatus": 1.,
+    }
+    self.pm.send('driverMonitoringState', dat)
+
+  def send_camera_images(self, world: 'World'):
+    with world.image_lock:
+      yuv = self.camerad.rgb_to_yuv(world.road_image)
+      self.camerad.cam_send_yuv_road(yuv)
+
+      if world.dual_camera:
+        yuv = self.camerad.rgb_to_yuv(world.wide_road_image)
+        self.camerad.cam_send_yuv_wide_road(yuv)
+
+  def update(self, simulator_state: 'SimulatorState', world: 'World'):
+    now = time.time()
+    self.send_imu_message(simulator_state)
+    self.send_gps_message(simulator_state)
+
+    if (now - self.last_dmon_update) > DT_DMON/2:
+      self.send_fake_driver_monitoring()
+      self.last_dmon_update = now
+
+    if (now - self.last_perp_update) > 0.25:
+      self.send_peripheral_state()
+      self.last_perp_update = now
+
+    self.send_camera_images(world)
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@ -0,0 +1,50 @@
+#!/usr/bin/env python
+import argparse
+
+from typing import Any
+from multiprocessing import Queue
+
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.carla import CarlaBridge
+
+
+def parse_args(add_args=None):
+  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
+  parser.add_argument('--joystick', action='store_true')
+  parser.add_argument('--high_quality', action='store_true')
+  parser.add_argument('--dual_camera', action='store_true')
+  parser.add_argument('--simulator', dest='simulator', type=str, default='carla')
+
+  # Carla specific
+  parser.add_argument('--town', type=str, default='Town04_Opt')
+  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
+  parser.add_argument('--host', dest='host', type=str, default='127.0.0.1')
+  parser.add_argument('--port', dest='port', type=int, default=2000)
+
+  return parser.parse_args(add_args)
+
+if __name__ == "__main__":
+  q: Any = Queue()
+  args = parse_args()
+
+  simulator_bridge: SimulatorBridge
+  if args.simulator == "carla":
+    simulator_bridge = CarlaBridge(args)
+  else:
+    raise AssertionError("simulator type not supported")
+  p = simulator_bridge.run(q)
+
+  if args.joystick:
+    # start input poll for joystick
+    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
+
+    wheel_poll_thread(q)
+  else:
+    # start input poll for keyboard
+    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
+
+    keyboard_poll_thread(q)
+
+  simulator_bridge.shutdown()
+
+  p.join()
--- a/tools/sim/tests/test_carla_integration.py
+++ b/tools/sim/tests/test_carla_integration.py
@ -8,8 +8,8 @@ from multiprocessing import Queue
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.manager.helpers import unblock_stdout
-from openpilot.tools.sim import bridge
-from openpilot.tools.sim.bridge import CarlaBridge
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.carla import CarlaBridge

 CI = "CI" in os.environ

@ -42,7 +42,7 @@ class TestCarlaIntegration(unittest.TestCase):

    sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
    q = Queue()
-    carla_bridge = CarlaBridge(bridge.parse_args([]))
+    carla_bridge = CarlaBridge(parse_args([]))
    p_bridge = carla_bridge.run(q, retries=10)
    self.processes.append(p_bridge)