Merge remote-tracking branch 'origin/master' into ford-vehicle-cfg-lca

.github/workflows/selfdrive_tests.yaml

@@ -134,24 +134,6 @@ jobs:
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
-  valgrind:
-    name: valgrind
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run valgrind
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
-    - name: Print logs
-      if: always()
-      run: cat selfdrive/test/valgrind_logs.txt
-
   unit_tests:
     name: unit tests
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -200,7 +182,7 @@ jobs:
       uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
@@ -225,64 +207,18 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  regen:
-    name: regen
-    runs-on: 'ubuntu-latest'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run regen
-      timeout-minutes: 30
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                           chmod -R 777 /tmp/comma_download_cache"
-
-  test_modeld:
-    name: model tests
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                           ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                           coverage combine && \
+                        coverage combine && coverage xml"
-                           coverage xml"
+    - name: Run regen
-    - name: Run unit tests
       timeout-minutes: 4
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                           $PYTEST selfdrive/modeld"
+                        chmod -R 777 /tmp/comma_download_cache"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:
@@ -298,7 +234,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3, 4]
+        job: [0, 1]
     steps:
     - uses: actions/checkout@v4
       with:
@@ -313,12 +249,12 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 10
+      timeout-minutes: 20
       run: |
         ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 5
+        NUM_JOBS: 2
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4

.github/workflows/stale.yaml

@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_CLOSE: 3
-  DAYS_BEFORE_PR_STALE: 30
+  DAYS_BEFORE_PR_STALE: 14
 
 jobs:
   stale:

.github/workflows/tools_tests.yaml

@@ -20,23 +20,6 @@ env:
 
 
 jobs:
-  plotjuggler:
-    name: plotjuggler
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
-    - name: Test PlotJuggler
-      timeout-minutes: 2
-      run: |
-        ${{ env.RUN }} "pytest tools/plotjuggler/"
-
   simulator_build:
     name: simulator docker build
     runs-on: ubuntu-latest
@@ -76,7 +59,7 @@ jobs:
         ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 tools/sim/tests/test_metadrive_bridge.py"
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning"
 
   devcontainer:
     name: devcontainer

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.3
+    rev: v0.4.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.2
+    rev: 0.28.3
     hooks:
     -   id: check-github-workflows

Jenkinsfile

@@ -237,6 +237,7 @@ node {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],

cereal

@@ -1 +1 @@
-Subproject commit ab529db640a855f80fab03fa3fbfded713195a5e
+Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49

common/tests/test_file_helpers.py

@@ -1,11 +1,10 @@
 import os
-import unittest
 from uuid import uuid4
 
 from openpilot.common.file_helpers import atomic_write_in_dir
 
 
-class TestFileHelpers(unittest.TestCase):
+class TestFileHelpers:
   def run_atomic_write_func(self, atomic_write_func):
     path = f"/tmp/tmp{uuid4()}"
     with atomic_write_func(path) as f:
@@ -13,12 +12,8 @@ class TestFileHelpers(unittest.TestCase):
       assert not os.path.exists(path)
 
     with open(path) as f:
-      self.assertEqual(f.read(), "test")
+      assert f.read() == "test"
     os.remove(path)
 
   def test_atomic_write_in_dir(self):
     self.run_atomic_write_func(atomic_write_in_dir)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_numpy_fast.py

@@ -1,10 +1,9 @@
 import numpy as np
-import unittest
 
 from openpilot.common.numpy_fast import interp
 
 
-class InterpTest(unittest.TestCase):
+class TestInterp:
   def test_correctness_controls(self):
     _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
     _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
@@ -20,7 +19,3 @@ class InterpTest(unittest.TestCase):
       expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       np.testing.assert_equal(actual, expected)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_params.py

@@ -1,13 +1,13 @@
+import pytest
 import os
 import threading
 import time
 import uuid
-import unittest
 
 from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
 
-class TestParams(unittest.TestCase):
+class TestParams:
-  def setUp(self):
+  def setup_method(self):
     self.params = Params()
 
   def test_params_put_and_get(self):
@@ -49,16 +49,16 @@ class TestParams(unittest.TestCase):
     assert self.params.get("CarParams", True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.get("swag")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.get_bool("swag")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.put("swag", "abc")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.put_bool("swag", True)
 
   def test_remove_not_there(self):
@@ -68,19 +68,19 @@ class TestParams(unittest.TestCase):
 
   def test_get_bool(self):
     self.params.remove("IsMetric")
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
     self.params.put_bool("IsMetric", True)
-    self.assertTrue(self.params.get_bool("IsMetric"))
+    assert self.params.get_bool("IsMetric")
 
     self.params.put_bool("IsMetric", False)
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
     self.params.put("IsMetric", "1")
-    self.assertTrue(self.params.get_bool("IsMetric"))
+    assert self.params.get_bool("IsMetric")
 
     self.params.put("IsMetric", "0")
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
@@ -107,7 +107,3 @@ class TestParams(unittest.TestCase):
     assert len(keys) > 20
     assert len(keys) == len(set(keys))
     assert b"CarParams" in keys
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_simple_kalman.py

@@ -1,10 +1,8 @@
-import unittest
-
 from openpilot.common.simple_kalman import KF1D
 
 
-class TestSimpleKalman(unittest.TestCase):
+class TestSimpleKalman:
-  def setUp(self):
+  def setup_method(self):
     dt = 0.01
     x0_0 = 0.0
     x1_0 = 0.0
@@ -24,12 +22,8 @@ class TestSimpleKalman(unittest.TestCase):
 
   def test_getter_setter(self):
     self.kf.set_x([[1.0], [1.0]])
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+    assert self.kf.x == [[1.0], [1.0]]
 
   def update_returns_state(self):
     x = self.kf.update(100)
-    self.assertEqual(x, self.kf.x)
+    assert x == self.kf.x
-
-
-if __name__ == "__main__":
-  unittest.main()

common/transformations/tests/test_coordinates.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import numpy as np
-import unittest
 
 import openpilot.common.transformations.coordinates as coord
 
@@ -44,7 +43,7 @@ ned_offsets_batch = np.array([[  53.88103168,   43.83445935,  -46.27488057],
                               [  78.56272609,   18.53100158,  -43.25290759]])
 
 
-class TestNED(unittest.TestCase):
+class TestNED:
   def test_small_distances(self):
     start_geodetic = np.array([33.8042184, -117.888593, 0.0])
     local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
@@ -54,13 +53,13 @@ class TestNED(unittest.TestCase):
 
     west_geodetic = start_geodetic + [0, -0.0005, 0]
     west_ned = local_coord.geodetic2ned(west_geodetic)
-    self.assertLess(np.abs(west_ned[0]), 1e-3)
+    assert np.abs(west_ned[0]) < 1e-3
-    self.assertLess(west_ned[1], 0)
+    assert west_ned[1] < 0
 
     southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0]
     southwest_ned = local_coord.geodetic2ned(southwest_geodetic)
-    self.assertLess(southwest_ned[0], 0)
+    assert southwest_ned[0] < 0
-    self.assertLess(southwest_ned[1], 0)
+    assert southwest_ned[1] < 0
 
   def test_ecef_geodetic(self):
     # testing single
@@ -105,5 +104,3 @@ class TestNED(unittest.TestCase):
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
-if __name__ == "__main__":
-  unittest.main()

common/transformations/tests/test_orientation.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import numpy as np
-import unittest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -32,7 +31,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 ,  1.65697808],
                     [ 2.50450101,  0.36304151,  0.33136365]])
 
 
-class TestOrientation(unittest.TestCase):
+class TestOrientation:
   def test_quat_euler(self):
     for i, eul in enumerate(eulers):
       np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,7 +61,3 @@ class TestOrientation(unittest.TestCase):
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-
-if __name__ == "__main__":
-  unittest.main()

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.
 
-# 286 Supported Cars
+# 287 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -49,7 +49,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
@@ -83,12 +83,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Azera Hybrid 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 C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 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 K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-18|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2019|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 G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 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|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
@@ -100,7 +100,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 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 B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|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 G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -115,12 +115,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
 |Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
 |Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
@@ -139,11 +140,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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>|
 |Kia|Niro EV 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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">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 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2020|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 D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
@@ -232,14 +233,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
 |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -247,18 +248,18 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
 |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
 |Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

opendbc

@@ -1 +1 @@
-Subproject commit d058bc9a9f156d55ee6e4b90ceb292d087267414
+Subproject commit d53c8f558cc4861ce6563498a3663ee9b57daf4b

panda

@@ -1 +1 @@
-Subproject commit 2b70e283c17e8e661f471cfe7994dfca8a4457d3
+Subproject commit cade0d5e75cdd6a659e1ded21a45d8f3c6c62c18

poetry.lock

@@ -291,23 +291,23 @@ msal-extensions = ">=0.3.0"
 
 [[package]]
 name = "azure-storage-blob"
-version = "12.19.1"
+version = "12.20.0"
 description = "Microsoft Azure Blob Storage Client Library for Python"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
-azure-core = ">=1.28.0,<2.0.0"
+azure-core = ">=1.28.0"
 cryptography = ">=2.1.4"
 isodate = ">=0.6.1"
-typing-extensions = ">=4.3.0"
+typing-extensions = ">=4.6.0"
 
 [package.extras]
-aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
+aio = ["azure-core[aio] (>=1.28.0)"]
 
 [[package]]
 name = "babel"
@@ -830,43 +830,43 @@ files = [
 
 [[package]]
 name = "cryptography"
-version = "42.0.6"
+version = "42.0.7"
 description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
 optional = false
 python-versions = ">=3.7"
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 version = "1.2.0"
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 cycler = ">=0.10"
 fonttools = ">=4.22.0"
 kiwisolver = ">=1.3.1"
-numpy = ">=1.21"
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 packaging = ">=20.0"
 pillow = ">=8"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
+[package.extras]
+dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
+
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@@ -2715,36 +2663,36 @@ reference = ["Pillow", "google-re2"]
 
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 ]
 
 [package.dependencies]
@@ -3120,13 +3068,13 @@ xmp = ["defusedxml"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.1"
+version = "4.2.2"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
@@ -3195,13 +3143,13 @@ files = [
 
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-version = "3.7.0"
+version = "3.7.1"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.dependencies]
@@ -3269,6 +3217,54 @@ files = [
 [package.extras]
 test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
+[[package]]
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+python-versions = ">=3.8"
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+]
+
+[package.dependencies]
+numpy = ">=1.16.6"
+
 [[package]]
 name = "pyaudio"
 version = "0.2.14"
@@ -6657,6 +6653,24 @@ pluggy = ">=1.5,<2.0"
 [package.extras]
 dev = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
+[[package]]
+name = "pytest-asyncio"
+version = "0.23.6"
+description = "Pytest support for asyncio"
+optional = false
+python-versions = ">=3.8"
+files = [
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+[package.dependencies]
+pytest = ">=7.0.0,<9"
+
+[package.extras]
+docs = ["sphinx (>=5.3)", "sphinx-rtd-theme (>=1.0)"]
+testing = ["coverage (>=6.2)", "hypothesis (>=5.7.1)"]
+
 [[package]]
 name = "pytest-cov"
 version = "5.0.0"
@@ -6690,6 +6704,23 @@ files = [
 colorama = "*"
 pytest = ">=7.0"
 
+[[package]]
+name = "pytest-mock"
+version = "3.14.0"
+description = "Thin-wrapper around the mock package for easier use with pytest"
+optional = false
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+pytest = ">=6.2.5"
+
+[package.extras]
+dev = ["pre-commit", "pytest-asyncio", "tox"]
+
 [[package]]
 name = "pytest-randomly"
 version = "3.15.0"
@@ -7075,6 +7106,30 @@ urllib3 = ">=1.21.1,<3"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
+name = "rerun-sdk"
+version = "0.16.0"
+description = "The Rerun Logging SDK"
+optional = false
+python-versions = "<3.13,>=3.8"
+files = [
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+numpy = ">=1.23,<2"
+pillow = ">=8.0.0"
+pyarrow = ">=14.0.2"
+typing-extensions = ">=4.5"
+
+[package.extras]
+tests = ["pytest (==7.1.2)"]
+
 [[package]]
 name = "rubicon-objc"
 version = "0.4.9"
@@ -7092,28 +7147,28 @@ docs = ["furo (==2024.4.27)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.4.3"
+version = "0.4.4"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "ruff-0.4.3-py3-none-musllinux_1_2_i686.whl", hash = "sha256:eeb039f8428fcb6725bb63cbae92ad67b0559e68b5d80f840f11914afd8ddf7f"},
+    {file = "ruff-0.4.4-py3-none-musllinux_1_2_i686.whl", hash = "sha256:9da73eb616b3241a307b837f32756dc20a0b07e2bcb694fec73699c93d04a69e"},
-    {file = "ruff-0.4.3-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:927b11c1e4d0727ce1a729eace61cee88a334623ec424c0b1c8fe3e5f9d3c865"},
+    {file = "ruff-0.4.4-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:958b4ea5589706a81065e2a776237de2ecc3e763342e5cc8e02a4a4d8a5e6f95"},
-    {file = "ruff-0.4.3-py3-none-win32.whl", hash = "sha256:25cacda2155778beb0d064e0ec5a3944dcca9c12715f7c4634fd9d93ac33fd30"},
+    {file = "ruff-0.4.4-py3-none-win32.whl", hash = "sha256:cb53473849f011bca6e754f2cdf47cafc9c4f4ff4570003a0dad0b9b6890e876"},
-    {file = "ruff-0.4.3-py3-none-win_amd64.whl", hash = "sha256:7a1c3a450bc6539ef00da6c819fb1b76b6b065dec585f91456e7c0d6a0bbc725"},
+    {file = "ruff-0.4.4-py3-none-win_amd64.whl", hash = "sha256:424e5b72597482543b684c11def82669cc6b395aa8cc69acc1858b5ef3e5daae"},
-    {file = "ruff-0.4.3-py3-none-win_arm64.whl", hash = "sha256:71ca5f8ccf1121b95a59649482470c5601c60a416bf189d553955b0338e34614"},
+    {file = "ruff-0.4.4-py3-none-win_arm64.whl", hash = "sha256:39df0537b47d3b597293edbb95baf54ff5b49589eb7ff41926d8243caa995ea6"},
-    {file = "ruff-0.4.3.tar.gz", hash = "sha256:ff0a3ef2e3c4b6d133fbedcf9586abfbe38d076041f2dc18ffb2c7e0485d5a07"},
+    {file = "ruff-0.4.4.tar.gz", hash = "sha256:f87ea42d5cdebdc6a69761a9d0bc83ae9b3b30d0ad78952005ba6568d6c022af"},
 ]
 
 [[package]]
@@ -7192,13 +7247,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "2.1.1"
+version = "2.2.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"},
+    {file = "sentry_sdk-2.2.0-py2.py3-none-any.whl", hash = "sha256:674f58da37835ea7447fe0e34c57b4a4277fad558b0a7cb4a6c83bcb263086be"},
-    {file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"},
+    {file = "sentry_sdk-2.2.0.tar.gz", hash = "sha256:70eca103cf4c6302365a9d7cf522e7ed7720828910eb23d43ada8e50d1ecda9d"},
 ]
 
 [package.dependencies]
@@ -7699,20 +7754,6 @@ files = [
 [package.extras]
 widechars = ["wcwidth"]
 
-[[package]]
-name = "tenacity"
-version = "8.2.3"
-description = "Retry code until it succeeds"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "tenacity-8.2.3-py3-none-any.whl", hash = "sha256:ce510e327a630c9e1beaf17d42e6ffacc88185044ad85cf74c0a8887c6a0f88c"},
-    {file = "tenacity-8.2.3.tar.gz", hash = "sha256:5398ef0d78e63f40007c1fb4c0bff96e1911394d2fa8d194f77619c05ff6cc8a"},
-]
-
-[package.extras]
-doc = ["reno", "sphinx", "tornado (>=4.5)"]
-
 [[package]]
 name = "timezonefinder"
 version = "6.5.0"
@@ -7831,13 +7872,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.1"
+version = "20.26.2"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"},
+    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
-    {file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"},
+    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
 ]
 
 [package.dependencies]
@@ -7986,20 +8027,20 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zipp"
-version = "3.18.1"
+version = "3.18.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"},
+    {file = "zipp-3.18.2-py3-none-any.whl", hash = "sha256:dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e"},
-    {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"},
+    {file = "zipp-3.18.2.tar.gz", hash = "sha256:6278d9ddbcfb1f1089a88fde84481528b07b0e10474e09dcfe53dad4069fa059"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d"
+content-hash = "debffdd8b49091d256508f53c11e9d79fb4164995678d7e02d1720175cf265ec"

pyproject.toml

@@ -1,3 +1,12 @@
+[project]
+name = "openpilot"
+requires-python = ">= 3.11"
+readme = "README.md"
+license = {text = "MIT License"}
+
+[project.urls]
+Homepage = "https://comma.ai"
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@@ -99,6 +108,7 @@ pycryptodome = "*"
 PyJWT = "*"
 pyserial = "*"
 pyzmq = "*"
+rerun-sdk = "*"
 requests = "*"
 scons = "*"
 sentry-sdk = "*"
@@ -125,7 +135,6 @@ breathe = "*"
 control = "*"
 coverage = "*"
 dictdiffer = "*"
-ft4222 = "*"
 flaky = "*"
 hypothesis = "~6.47"
 inputs = "*"
@@ -154,12 +163,13 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-randomly = "*"
+pytest-asyncio = "*"
+pytest-mock = "*"
 ruff = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
 sphinx-sitemap = "*"
 tabulate = "*"
-tenacity = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
@@ -197,6 +207,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 "third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
+"unittest".msg = "Use pytest"
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]

selfdrive/athena/tests/test_athenad.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
-from functools import partial, wraps
+import pytest
+from functools import wraps
 import json
 import multiprocessing
 import os
@@ -8,12 +9,9 @@ import shutil
 import time
 import threading
 import queue
-import unittest
 from dataclasses import asdict, replace
 from datetime import datetime, timedelta
-from parameterized import parameterized
 
-from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
@@ -24,7 +22,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
-from openpilot.selfdrive.test.helpers import with_http_server
+from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
 
 
@@ -37,10 +35,6 @@ def seed_athena_server(host, port):
       except requests.exceptions.ConnectionError:
         time.sleep(0.1)
 
-
-with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server)
-
-
 def with_upload_handler(func):
   @wraps(func)
   def wrapper(*args, **kwargs):
@@ -54,15 +48,23 @@ def with_upload_handler(func):
       thread.join()
   return wrapper
 
+@pytest.fixture
+def mock_create_connection(mocker):
+    return mocker.patch('openpilot.selfdrive.athena.athenad.create_connection')
+
+@pytest.fixture
+def host():
+  with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port):
+    yield f"http://{host}:{port}"
 
-class TestAthenadMethods(unittest.TestCase):
+class TestAthenadMethods:
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     cls.SOCKET_PORT = 45454
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
-  def setUp(self):
+  def setup_method(self):
     self.default_params = {
       "DongleId": "0000000000000000",
       "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
@@ -109,8 +111,8 @@ class TestAthenadMethods(unittest.TestCase):
   def test_echo(self):
     assert dispatcher["echo"]("bob") == "bob"
 
-  def test_getMessage(self):
+  def test_get_message(self):
-    with self.assertRaises(TimeoutError) as _:
+    with pytest.raises(TimeoutError) as _:
       dispatcher["getMessage"]("controlsState")
 
     end_event = multiprocessing.Event()
@@ -133,7 +135,7 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
       p.join()
 
-  def test_listDataDirectory(self):
+  def test_list_data_directory(self):
     route = '2021-03-29--13-32-47'
     segments = [0, 1, 2, 3, 11]
 
@@ -143,69 +145,66 @@ class TestAthenadMethods(unittest.TestCase):
       self._create_file(file)
 
     resp = dispatcher["listDataDirectory"]()
-    self.assertTrue(resp, 'list empty!')
+    assert resp, 'list empty!'
-    self.assertCountEqual(resp, files)
+    assert len(resp) == len(files)
 
     resp = dispatcher["listDataDirectory"](f'{route}--123')
-    self.assertCountEqual(resp, [])
+    assert len(resp) == 0
 
     prefix = f'{route}'
-    expected = filter(lambda f: f.startswith(prefix), files)
+    expected = list(filter(lambda f: f.startswith(prefix), files))
     resp = dispatcher["listDataDirectory"](prefix)
-    self.assertTrue(resp, 'list empty!')
+    assert resp, 'list empty!'
-    self.assertCountEqual(resp, expected)
+    assert len(resp) == len(expected)
 
     prefix = f'{route}--1'
-    expected = filter(lambda f: f.startswith(prefix), files)
+    expected = list(filter(lambda f: f.startswith(prefix), files))
     resp = dispatcher["listDataDirectory"](prefix)
-    self.assertTrue(resp, 'list empty!')
+    assert resp, 'list empty!'
-    self.assertCountEqual(resp, expected)
+    assert len(resp) == len(expected)
 
     prefix = f'{route}--1/'
-    expected = filter(lambda f: f.startswith(prefix), files)
+    expected = list(filter(lambda f: f.startswith(prefix), files))
     resp = dispatcher["listDataDirectory"](prefix)
-    self.assertTrue(resp, 'list empty!')
+    assert resp, 'list empty!'
-    self.assertCountEqual(resp, expected)
+    assert len(resp) == len(expected)
 
     prefix = f'{route}--1/q'
-    expected = filter(lambda f: f.startswith(prefix), files)
+    expected = list(filter(lambda f: f.startswith(prefix), files))
     resp = dispatcher["listDataDirectory"](prefix)
-    self.assertTrue(resp, 'list empty!')
+    assert resp, 'list empty!'
-    self.assertCountEqual(resp, expected)
+    assert len(resp) == len(expected)
 
   def test_strip_bz2_extension(self):
     fn = self._create_file('qlog.bz2')
     if fn.endswith('.bz2'):
-      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
+      assert athenad.strip_bz2_extension(fn) == fn[:-4]
 
-  @parameterized.expand([(True,), (False,)])
+  @pytest.mark.parametrize("compress", [True, False])
-  @with_mock_athena
+  def test_do_upload(self, host, compress):
-  def test_do_upload(self, compress, host):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
     upload_fn = fn + ('.bz2' if compress else '')
     item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
-    with self.assertRaises(requests.exceptions.ConnectionError):
+    with pytest.raises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
     item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
     resp = athenad._do_upload(item)
-    self.assertEqual(resp.status_code, 201)
+    assert resp.status_code == 201
 
-  @with_mock_athena
+  def test_upload_file_to_url(self, host):
-  def test_uploadFileToUrl(self, host):
     fn = self._create_file('qlog.bz2')
 
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
-    self.assertEqual(resp['enqueued'], 1)
+    assert resp['enqueued'] == 1
-    self.assertNotIn('failed', resp)
+    assert 'failed' not in resp
-    self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items())
+    assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items()
-    self.assertIsNotNone(resp['items'][0].get('id'))
+    assert resp['items'][0].get('id') is not None
-    self.assertEqual(athenad.upload_queue.qsize(), 1)
+    assert athenad.upload_queue.qsize() == 1
-
+
-  @with_mock_athena
+  def test_upload_file_to_url_duplicate(self, host):
-  def test_uploadFileToUrl_duplicate(self, host):
     self._create_file('qlog.bz2')
 
     url1 = f"{host}/qlog.bz2?sig=sig1"
@@ -214,14 +213,12 @@ class TestAthenadMethods(unittest.TestCase):
     # Upload same file again, but with different signature
     url2 = f"{host}/qlog.bz2?sig=sig2"
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
-    self.assertEqual(resp, {'enqueued': 0, 'items': []})
+    assert resp == {'enqueued': 0, 'items': []}
 
-  @with_mock_athena
+  def test_upload_file_to_url_does_not_exist(self, host):
-  def test_uploadFileToUrl_does_not_exist(self, host):
     not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
+    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}
 
-  @with_mock_athena
   @with_upload_handler
   def test_upload_handler(self, host):
     fn = self._create_file('qlog.bz2')
@@ -233,13 +230,12 @@ class TestAthenadMethods(unittest.TestCase):
 
     # TODO: verify that upload actually succeeded
     # TODO: also check that end_event and metered network raises AbortTransferException
-    self.assertEqual(athenad.upload_queue.qsize(), 0)
+    assert athenad.upload_queue.qsize() == 0
 
-  @parameterized.expand([(500, True), (412, False)])
+  @pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
-  @with_mock_athena
-  @mock.patch('requests.put')
   @with_upload_handler
-  def test_upload_handler_retry(self, status, retry, mock_put, host):
+  def test_upload_handler_retry(self, mocker, host, status, retry):
+    mock_put = mocker.patch('requests.put')
     mock_put.return_value.status_code = status
     fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
@@ -248,10 +244,10 @@ class TestAthenadMethods(unittest.TestCase):
     self._wait_for_upload()
     time.sleep(0.1)
 
-    self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0)
+    assert athenad.upload_queue.qsize() == (1 if retry else 0)
 
     if retry:
-      self.assertEqual(athenad.upload_queue.get().retry_count, 1)
+      assert athenad.upload_queue.get().retry_count == 1
 
   @with_upload_handler
   def test_upload_handler_timeout(self):
@@ -265,33 +261,33 @@ class TestAthenadMethods(unittest.TestCase):
     time.sleep(0.1)
 
     # Check that upload with retry count exceeded is not put back
-    self.assertEqual(athenad.upload_queue.qsize(), 0)
+    assert athenad.upload_queue.qsize() == 0
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
     time.sleep(0.1)
 
     # Check that upload item was put back in the queue with incremented retry count
-    self.assertEqual(athenad.upload_queue.qsize(), 1)
+    assert athenad.upload_queue.qsize() == 1
-    self.assertEqual(athenad.upload_queue.get().retry_count, 1)
+    assert athenad.upload_queue.get().retry_count == 1
 
   @with_upload_handler
-  def test_cancelUpload(self):
+  def test_cancel_upload(self):
     item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
-    self.assertIn(item.id, athenad.cancelled_uploads)
+    assert item.id in athenad.cancelled_uploads
 
     self._wait_for_upload()
     time.sleep(0.1)
 
-    self.assertEqual(athenad.upload_queue.qsize(), 0)
+    assert athenad.upload_queue.qsize() == 0
-    self.assertEqual(len(athenad.cancelled_uploads), 0)
+    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
-  def test_cancelExpiry(self):
+  def test_cancel_expiry(self):
     t_future = datetime.now() - timedelta(days=40)
     ts = int(t_future.strftime("%s")) * 1000
 
@@ -303,15 +299,14 @@ class TestAthenadMethods(unittest.TestCase):
     self._wait_for_upload()
     time.sleep(0.1)
 
-    self.assertEqual(athenad.upload_queue.qsize(), 0)
+    assert athenad.upload_queue.qsize() == 0
 
-  def test_listUploadQueueEmpty(self):
+  def test_list_upload_queue_empty(self):
     items = dispatcher["listUploadQueue"]()
-    self.assertEqual(len(items), 0)
+    assert len(items) == 0
 
-  @with_http_server
   @with_upload_handler
-  def test_listUploadQueueCurrent(self, host: str):
+  def test_list_upload_queue_current(self, host: str):
     fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
@@ -319,22 +314,22 @@ class TestAthenadMethods(unittest.TestCase):
     self._wait_for_upload()
 
     items = dispatcher["listUploadQueue"]()
-    self.assertEqual(len(items), 1)
+    assert len(items) == 1
-    self.assertTrue(items[0]['current'])
+    assert items[0]['current']
 
-  def test_listUploadQueue(self):
+  def test_list_upload_queue(self):
     item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
     items = dispatcher["listUploadQueue"]()
-    self.assertEqual(len(items), 1)
+    assert len(items) == 1
-    self.assertDictEqual(items[0], asdict(item))
+    assert items[0] == asdict(item)
-    self.assertFalse(items[0]['current'])
+    assert not items[0]['current']
 
     athenad.cancelled_uploads.add(item.id)
     items = dispatcher["listUploadQueue"]()
-    self.assertEqual(len(items), 0)
+    assert len(items) == 0
 
   def test_upload_queue_persistence(self):
     item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1')
@@ -353,11 +348,10 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.upload_queue.queue.clear()
     athenad.UploadQueueCache.initialize(athenad.upload_queue)
 
-    self.assertEqual(athenad.upload_queue.qsize(), 1)
+    assert athenad.upload_queue.qsize() == 1
-    self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1))
+    assert asdict(athenad.upload_queue.queue[-1]) == asdict(item1)
 
-  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection')
+  def test_start_local_proxy(self, mock_create_connection):
-  def test_startLocalProxy(self, mock_create_connection):
     end_event = threading.Event()
 
     ws_recv = queue.Queue()
@@ -380,21 +374,21 @@ class TestAthenadMethods(unittest.TestCase):
       ws_recv.put_nowait(WebSocketConnectionClosedException())
       socket_thread.join()
 
-  def test_getSshAuthorizedKeys(self):
+  def test_get_ssh_authorized_keys(self):
     keys = dispatcher["getSshAuthorizedKeys"]()
-    self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8'))
+    assert keys == self.default_params["GithubSshKeys"].decode('utf-8')
 
-  def test_getGithubUsername(self):
+  def test_get_github_username(self):
     keys = dispatcher["getGithubUsername"]()
-    self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8'))
+    assert keys == self.default_params["GithubUsername"].decode('utf-8')
 
-  def test_getVersion(self):
+  def test_get_version(self):
     resp = dispatcher["getVersion"]()
     keys = ["version", "remote", "branch", "commit"]
-    self.assertEqual(list(resp.keys()), keys)
+    assert list(resp.keys()) == keys
     for k in keys:
-      self.assertIsInstance(resp[k], str, f"{k} is not a string")
+      assert isinstance(resp[k], str), f"{k} is not a string"
-      self.assertTrue(len(resp[k]) > 0, f"{k} has no value")
+      assert len(resp[k]) > 0, f"{k} has no value"
 
   def test_jsonrpc_handler(self):
     end_event = threading.Event()
@@ -405,15 +399,15 @@ class TestAthenadMethods(unittest.TestCase):
       # with params
       athenad.recv_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0}))
       resp = athenad.send_queue.get(timeout=3)
-      self.assertDictEqual(json.loads(resp), {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'})
+      assert json.loads(resp) == {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'}
       # without params
       athenad.recv_queue.put_nowait(json.dumps({"method": "getNetworkType", "jsonrpc": "2.0", "id": 0}))
       resp = athenad.send_queue.get(timeout=3)
-      self.assertDictEqual(json.loads(resp), {'result': 1, 'id': 0, 'jsonrpc': '2.0'})
+      assert json.loads(resp) == {'result': 1, 'id': 0, 'jsonrpc': '2.0'}
       # log forwarding
       athenad.recv_queue.put_nowait(json.dumps({'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'}))
       resp = athenad.log_recv_queue.get(timeout=3)
-      self.assertDictEqual(json.loads(resp), {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'})
+      assert json.loads(resp) == {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'}
     finally:
       end_event.set()
       thread.join()
@@ -427,8 +421,4 @@ class TestAthenadMethods(unittest.TestCase):
 
     # ensure the list is all logs except most recent
     sl = athenad.get_logs_to_send_sorted()
-    self.assertListEqual(sl, fl[:-1])
+    assert sl == fl[:-1]
-
-
-if __name__ == '__main__':
-  unittest.main()

selfdrive/athena/tests/test_athenad_ping.py

@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
+import pytest
 import subprocess
 import threading
 import time
-import unittest
 from typing import cast
-from unittest import mock
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -22,7 +21,7 @@ def wifi_radio(on: bool) -> None:
   subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
 
 
-class TestAthenadPing(unittest.TestCase):
+class TestAthenadPing:
   params: Params
   dongle_id: str
 
@@ -39,10 +38,10 @@ class TestAthenadPing(unittest.TestCase):
     return self._get_ping_time() is not None
 
   @classmethod
-  def tearDownClass(cls) -> None:
+  def teardown_class(cls) -> None:
     wifi_radio(True)
 
-  def setUp(self) -> None:
+  def setup_method(self) -> None:
     self.params = Params()
     self.dongle_id = self.params.get("DongleId", encoding="utf-8")
 
@@ -52,21 +51,23 @@ class TestAthenadPing(unittest.TestCase):
     self.exit_event = threading.Event()
     self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
 
-  def tearDown(self) -> None:
+  def teardown_method(self) -> None:
     if self.athenad.is_alive():
       self.exit_event.set()
       self.athenad.join()
 
-  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection))
+  def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None:
-  def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None:
     self.athenad.start()
 
+    mock_create_connection = mocker.patch('openpilot.selfdrive.athena.athenad.create_connection',
+                                          new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection))
+
     time.sleep(1)
     mock_create_connection.assert_called_once()
     mock_create_connection.reset_mock()
 
     # check normal behaviour, server pings on connection
-    with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
+    with subtests.test("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
       while not self._received_ping():
         time.sleep(0.1)
       print("ping received")
@@ -74,7 +75,7 @@ class TestAthenadPing(unittest.TestCase):
     mock_create_connection.assert_not_called()
 
     # websocket should attempt reconnect after short time
-    with self.subTest("LTE: attempt reconnect"):
+    with subtests.test("LTE: attempt reconnect"):
       wifi_radio(False)
       print("waiting for reconnect attempt")
       start_time = time.monotonic()
@@ -86,21 +87,17 @@ class TestAthenadPing(unittest.TestCase):
     self._clear_ping_time()
 
     # check ping received after reconnect
-    with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"):
+    with subtests.test("LTE: receives ping"), Timeout(70, "no ping received"):
       while not self._received_ping():
         time.sleep(0.1)
       print("ping received")
 
-  @unittest.skipIf(not TICI, "only run on desk")
+  @pytest.mark.skipif(not TICI, reason="only run on desk")
-  def test_offroad(self) -> None:
+  def test_offroad(self, subtests, mocker) -> None:
     write_onroad_params(False, self.params)
-    self.assertTimeout(60 + TIMEOUT_TOLERANCE)  # based using TCP keepalive settings
+    self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings
 
-  @unittest.skipIf(not TICI, "only run on desk")
+  @pytest.mark.skipif(not TICI, reason="only run on desk")
-  def test_onroad(self) -> None:
+  def test_onroad(self, subtests, mocker) -> None:
     write_onroad_params(True, self.params)
-    self.assertTimeout(21 + TIMEOUT_TOLERANCE)
+    self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/athena/tests/test_registration.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
 import json
-import unittest
 from Crypto.PublicKey import RSA
 from pathlib import Path
-from unittest import mock
 
 from openpilot.common.params import Params
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
@@ -11,9 +9,9 @@ from openpilot.selfdrive.athena.tests.helpers import MockResponse
 from openpilot.system.hardware.hw import Paths
 
 
-class TestRegistration(unittest.TestCase):
+class TestRegistration:
 
-  def setUp(self):
+  def setup_method(self):
     # clear params and setup key paths
     self.params = Params()
     self.params.clear_all()
@@ -32,50 +30,46 @@ class TestRegistration(unittest.TestCase):
     with open(self.pub_key, "wb") as f:
       f.write(k.publickey().export_key())
 
-  def test_valid_cache(self):
+  def test_valid_cache(self, mocker):
     # if all params are written, return the cached dongle id
     self.params.put("IMEI", "imei")
     self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
+    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
-      dongle = "DONGLE_ID_123"
+    dongle = "DONGLE_ID_123"
-      self.params.put("DongleId", dongle)
+    self.params.put("DongleId", dongle)
-      self.assertEqual(register(), dongle)
+    assert register() == dongle
-      self.assertFalse(m.called)
+    assert not m.called
 
-  def test_no_keys(self):
+  def test_no_keys(self, mocker):
     # missing pubkey
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
+    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
-      dongle = register()
+    dongle = register()
-      self.assertEqual(m.call_count, 0)
+    assert m.call_count == 0
-      self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
+    assert dongle == UNREGISTERED_DONGLE_ID
-    self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
+    assert self.params.get("DongleId", encoding='utf-8') == dongle
 
-  def test_missing_cache(self):
+  def test_missing_cache(self, mocker):
     # keys exist but no dongle id
     self._generate_keys()
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
+    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
-      dongle = "DONGLE_ID_123"
+    dongle = "DONGLE_ID_123"
-      m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
+    m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
-      self.assertEqual(register(), dongle)
+    assert register() == dongle
-      self.assertEqual(m.call_count, 1)
+    assert m.call_count == 1
 
-      # call again, shouldn't hit the API this time
+    # call again, shouldn't hit the API this time
-      self.assertEqual(register(), dongle)
+    assert register() == dongle
-      self.assertEqual(m.call_count, 1)
+    assert m.call_count == 1
-    self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
+    assert self.params.get("DongleId", encoding='utf-8') == dongle
 
-  def test_unregistered(self):
+  def test_unregistered(self, mocker):
     # keys exist, but unregistered
     self._generate_keys()
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
+    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
-      m.return_value = MockResponse(None, 402)
+    m.return_value = MockResponse(None, 402)
-      dongle = register()
+    dongle = register()
-      self.assertEqual(m.call_count, 1)
+    assert m.call_count == 1
-      self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
+    assert dongle == UNREGISTERED_DONGLE_ID
-    self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
+    assert self.params.get("DongleId", encoding='utf-8') == dongle
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/boardd/boardd_api_impl.pyx

@@ -15,16 +15,17 @@ cdef extern from "can_list_to_can_capnp.cc":
   void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+  cdef can_frame *f
   cdef vector[can_frame] can_list
-  can_list.reserve(len(can_msgs))
 
-  cdef can_frame f
+  can_list.reserve(len(can_msgs))
   for can_msg in can_msgs:
+    f = &(can_list.emplace_back())
     f.address = can_msg[0]
     f.busTime = can_msg[1]
     f.dat = can_msg[2]
     f.src = can_msg[3]
-    can_list.push_back(f)
+
   cdef string out
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
   return out

selfdrive/boardd/spi.cc

@@ -301,7 +301,11 @@ int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) {
     }
     if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) {
       printf("corrupting TX\n");
-      memset((uint8_t*)t.tx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
+      for (int i = 0; i < t.len; i++) {
+        if ((static_cast<double>(rand()) / RAND_MAX) > 0.9) {
+          ((uint8_t*)t.tx_buf)[i] = (uint8_t)(rand() % 256);
+        }
+      }
     }
   }
 
@@ -310,7 +314,11 @@ int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) {
   if (err_prob > 0) {
     if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) {
       printf("corrupting RX\n");
-      memset((uint8_t*)t.rx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
+      for (int i = 0; i < t.len; i++) {
+        if ((static_cast<double>(rand()) / RAND_MAX) > 0.9) {
+          ((uint8_t*)t.rx_buf)[i] = (uint8_t)(rand() % 256);
+        }
+      }
     }
   }
 
@@ -345,13 +353,13 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to send header");
-    goto transfer_fail;
+    return ret;
   }
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
   if (ret < 0) {
-    goto transfer_fail;
+    return ret;
   }
 
   // Send data
@@ -363,20 +371,20 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to send data");
-    goto transfer_fail;
+    return ret;
   }
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
   if (ret < 0) {
-    goto transfer_fail;
+    return ret;
   }
 
   // Read data
   rx_data_len = *(uint16_t *)(rx_buf+1);
   if (rx_data_len >= SPI_BUF_SIZE) {
     LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
-    goto transfer_fail;
+    return -1;
   }
 
   transfer.len = rx_data_len + 1;
@@ -384,11 +392,11 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to read rx data");
-    goto transfer_fail;
+    return ret;
   }
   if (!check_checksum(rx_buf, rx_data_len + 4)) {
     LOGE("SPI: bad checksum");
-    goto transfer_fail;
+    return -1;
   }
 
   if (rx_data != NULL) {
@@ -396,8 +404,5 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   return rx_data_len;
-
-transfer_fail:
-  return ret;
 }
 #endif

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -3,7 +3,7 @@ import os
 import copy
 import random
 import time
-import unittest
+import pytest
 from collections import defaultdict
 from pprint import pprint
 
@@ -17,42 +17,61 @@ from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
-class TestBoardd(unittest.TestCase):
+def setup_boardd(num_pandas):
+  params = Params()
+  params.put_bool("IsOnroad", False)
 
+  with Timeout(90, "boardd didn't start"):
+    sm = messaging.SubMaster(['pandaStates'])
+    while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+        any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
+      sm.update(1000)
+
+  found_pandas = len(sm['pandaStates'])
+  assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
+                                      connect another panda for multipanda tests."
+
+  # boardd safety setting relies on these params
+  cp = car.CarParams.new_message()
+
+  safety_config = car.CarParams.SafetyConfig.new_message()
+  safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
+  cp.safetyConfigs = [safety_config]*num_pandas
+
+  params.put_bool("IsOnroad", True)
+  params.put_bool("FirmwareQueryDone", True)
+  params.put_bool("ControlsReady", True)
+  params.put("CarParams", cp.to_bytes())
+
+
+def send_random_can_messages(sendcan, count, num_pandas=1):
+  sent_msgs = defaultdict(set)
+  for _ in range(count):
+    to_send = []
+    for __ in range(random.randrange(20)):
+      bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
+      addr = random.randrange(1, 1<<29)
+      dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
+      if (addr, dat) in sent_msgs[bus]:
+        continue
+      sent_msgs[bus].add((addr, dat))
+      to_send.append(make_can_msg(addr, dat, bus))
+    sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
+  return sent_msgs
+
+
+@pytest.mark.tici
+class TestBoarddLoopback:
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
 
   @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
-    params = Params()
+    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    params.put_bool("IsOnroad", False)
+    setup_boardd(num_pandas)
-
-    with Timeout(90, "boardd didn't start"):
-      sm = messaging.SubMaster(['pandaStates'])
-      while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
-          any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
-        sm.update(1000)
-
-    num_pandas = len(sm['pandaStates'])
-    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
-                                                   connect another panda for multipanda tests.")
-
-    # boardd safety setting relies on these params
-    cp = car.CarParams.new_message()
-
-    safety_config = car.CarParams.SafetyConfig.new_message()
-    safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
-    cp.safetyConfigs = [safety_config]*num_pandas
-
-    params.put_bool("IsOnroad", True)
-    params.put_bool("FirmwareQueryDone", True)
-    params.put_bool("ControlsReady", True)
-    params.put("CarParams", cp.to_bytes())
-
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     sm = messaging.SubMaster(['pandaStates'])
@@ -62,16 +81,7 @@ class TestBoardd(unittest.TestCase):
     for i in range(n):
       print(f"boardd loopback {i}/{n}")
 
-      sent_msgs = defaultdict(set)
+      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
-      for _ in range(random.randrange(20, 100)):
-        to_send = []
-        for __ in range(random.randrange(20)):
-          bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
-          addr = random.randrange(1, 1<<29)
-          dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
-          sent_msgs[bus].add((addr, dat))
-          to_send.append(make_can_msg(addr, dat, bus))
-        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
 
       sent_loopback = copy.deepcopy(sent_msgs)
       sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
@@ -96,7 +106,3 @@ class TestBoardd(unittest.TestCase):
       pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
       for bus in sent_loopback.keys():
         assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/boardd/tests/test_boardd_spi.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+import os
+import time
+import numpy as np
+import pytest
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd
+
+
+@pytest.mark.tici
+class TestBoarddSpi:
+  @classmethod
+  def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
+    os.environ['STARTED'] = '1'
+    os.environ['BOARDD_LOOPBACK'] = '1'
+    os.environ['SPI_ERR_PROB'] = '0.001'
+
+  @phone_only
+  @with_processes(['pandad'])
+  def test_spi_corruption(self, subtests):
+    setup_boardd(1)
+
+    socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
+    time.sleep(2)
+    for s in socks.values():
+      messaging.drain_sock_raw(s)
+
+    st = time.monotonic()
+    ts = {s: list() for s in socks.keys()}
+    for _ in range(20):
+      for service, sock in socks.items():
+        for m in messaging.drain_sock(sock):
+          ts[service].append(m.logMonoTime)
+
+          # sanity check for corruption
+          assert m.valid
+          if service == "can":
+            assert len(m.can) == 0
+          elif service == "pandaStates":
+            assert len(m.pandaStates) == 1
+            ps = m.pandaStates[0]
+            assert ps.uptime < 100
+            assert ps.pandaType == "tres"
+            assert ps.ignitionLine
+            assert not ps.ignitionCan
+            assert ps.voltage < 14000
+          elif service == "peripheralState":
+            ps = m.peripheralState
+            assert ps.pandaType == "tres"
+            assert 4000 < ps.voltage < 14000
+            assert 100 < ps.current < 1000
+            assert ps.fanSpeedRpm < 8000
+
+      time.sleep(0.5)
+    et = time.monotonic() - st
+
+    print("\n======== timing report ========")
+    for service, times in ts.items():
+      dts = np.diff(times)/1e6
+      print(service.ljust(17), f"{np.mean(dts):7.2f} {np.min(dts):7.2f} {np.max(dts):7.2f}")
+      with subtests.test(msg="timing check", service=service):
+        edt = 1e3 / SERVICE_LIST[service].frequency
+        assert edt*0.9 < np.mean(dts) < edt*1.1
+        assert np.max(dts) < edt*3
+        assert np.min(dts) < edt
+        assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)

selfdrive/boardd/tests/test_pandad.py

@@ -2,7 +2,6 @@
 import os
 import pytest
 import time
-import unittest
 
 import cereal.messaging as messaging
 from cereal import log
@@ -16,16 +15,16 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 
 
 @pytest.mark.tici
-class TestPandad(unittest.TestCase):
+class TestPandad:
 
-  def setUp(self):
+  def setup_method(self):
     # ensure panda is up
     if len(Panda.list()) == 0:
       self._run_test(60)
 
     self.spi = HARDWARE.get_device_type() != 'tici'
 
-  def tearDown(self):
+  def teardown_method(self):
     managed_processes['pandad'].stop()
 
   def _run_test(self, timeout=30) -> float:
@@ -65,7 +64,7 @@ class TestPandad(unittest.TestCase):
 
     assert Panda.wait_for_panda(None, 10)
     if expect_mismatch:
-      with self.assertRaises(PandaProtocolMismatch):
+      with pytest.raises(PandaProtocolMismatch):
         Panda()
     else:
       with Panda() as p:
@@ -108,9 +107,10 @@ class TestPandad(unittest.TestCase):
     assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
     print("startup times", ts, sum(ts) / len(ts))
 
+
   def test_protocol_version_check(self):
     if not self.spi:
-      raise unittest.SkipTest("SPI test")
+      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)
@@ -127,7 +127,3 @@ class TestPandad(unittest.TestCase):
     self._assert_no_panda()
 
     self._run_test(60)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/card.py

@@ -14,13 +14,15 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
+EventName = car.CarEvent.EventName
+
 
 class CarD:
   CI: CarInterfaceBase
-  CS: car.CarState
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -48,9 +50,9 @@ class CarD:
       self.CI, self.CP = CI, CI.CP
 
     # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
+    if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -74,16 +76,19 @@ class CarD:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+    self.CS_prev = car.CarState.new_message()
+    self.events = Events()
+
   def initialize(self):
     """Initialize CarInterface, once controls are ready"""
     self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
-  def state_update(self):
+  def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    self.CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_strs)
 
     self.sm.update(0)
 
@@ -101,21 +106,37 @@ class CarD:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.state_publish()
+    self.update_events(CS)
+    self.state_publish(CS)
+
+    CS = CS.as_reader()
+    self.CS_prev = CS
+    return CS
+
+  def update_events(self, CS: car.CarState) -> car.CarState:
+    self.events.clear()
+
+    self.events.add_from_msg(CS.events)
+
+    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+      self.events.add(EventName.pedalPressed)
 
-    return self.CS
+    CS.events = self.events.to_msg()
 
-  def state_publish(self):
+  def state_publish(self, CS: car.CarState):
     """carState and carParams publish loop"""
 
     # carState
     cs_send = messaging.new_message('carState')
-    cs_send.valid = self.CS.canValid
+    cs_send.valid = CS.canValid
-    cs_send.carState = self.CS
+    cs_send.carState = CS
     self.pm.send('carState', cs_send)
 
     # carParams - logged every 50 seconds (> 1 per segment)
-    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+    if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
       cp_send.carParams = self.CP
@@ -128,12 +149,12 @@ class CarD:
       co_send.carOutput.actuatorsOutput = self.last_actuators
     self.pm.send('carOutput', co_send)
 
-  def controls_update(self, CC: car.CarControl):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
     # send car controls over can
     now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
     self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
-    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
+    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
     self.CC_prev = CC

selfdrive/car/chrysler/fingerprints.py

@@ -266,6 +266,7 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x742, None): [
       b'68302211AC',
       b'68302212AD',
+      b'68302223AC',
       b'68302246AC',
       b'68331511AC',
       b'68331574AC',
@@ -422,7 +423,9 @@ FW_VERSIONS = {
       b'68527403AD',
       b'68546047AF',
       b'68631938AA',
+      b'68631939AA',
       b'68631940AA',
+      b'68631940AB',
       b'68631942AA',
       b'68631943AB',
     ],
@@ -552,6 +555,7 @@ FW_VERSIONS = {
       b'68539651AD',
       b'68586101AA ',
       b'68586105AB ',
+      b'68629919AC ',
       b'68629922AC ',
       b'68629925AC ',
       b'68629926AC ',
@@ -589,6 +593,7 @@ FW_VERSIONS = {
       b'68520870AC',
       b'68540431AB',
       b'68540433AB',
+      b'68629935AB',
       b'68629936AC',
     ],
   },

selfdrive/car/docs_definitions.py

@@ -275,7 +275,7 @@ class CarDocs:
       self.min_enable_speed = CP.minEnableSpeed
 
     if self.auto_resume is None:
-      self.auto_resume = CP.autoResumeSng
+      self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0
 
     # hardware column
     hardware_col = "None"

selfdrive/car/ford/tests/test_ford.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import random
-import unittest
 from collections.abc import Iterable
 
 import capnp
@@ -43,31 +42,31 @@ ECU_PART_NUMBER = {
 }
 
 
-class TestFordFW(unittest.TestCase):
+class TestFordFW:
   def test_fw_query_config(self):
     for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
-      self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
+      assert ecu in ECU_ADDRESSES, "Unknown ECU"
-      self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
+      assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
-      self.assertIsNone(subaddr, "Unexpected ECU subaddress")
+      assert subaddr is None, "Unexpected ECU subaddress"
 
   @parameterized.expand(FW_VERSIONS.items())
   def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
-      self.assertIn(ecu, ECU_PART_NUMBER, "Unexpected ECU")
+      assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
-      self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
+      assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
-      self.assertIsNone(subaddr, "Unexpected ECU subaddress")
+      assert subaddr is None, "Unexpected ECU subaddress"
 
       for fw in fws:
-        self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes")
+        assert len(fw) == 24, "Expected ECU response to be 24 bytes"
 
         match = FW_PATTERN.match(fw)
-        self.assertIsNotNone(match, f"Unable to parse FW: {fw!r}")
+        assert match is not None, f"Unable to parse FW: {fw!r}"
         if match:
           part_number = match.group("part_number")
-          self.assertIn(part_number, ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}")
+          assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}"
 
         codes = get_platform_codes([fw])
-        self.assertEqual(1, len(codes), f"Unable to parse FW: {fw!r}")
+        assert 1 == len(codes), f"Unable to parse FW: {fw!r}"
 
   @settings(max_examples=100)
   @given(data=st.data())
@@ -85,7 +84,7 @@ class TestFordFW(unittest.TestCase):
       b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
       b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
     ])
-    self.assertEqual(results, {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")})
+    assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}
 
   def test_fuzzy_match(self):
     for platform, fw_by_addr in FW_VERSIONS.items():
@@ -100,7 +99,7 @@ class TestFordFW(unittest.TestCase):
 
         CP = car.CarParams.new_message(carFw=car_fw)
         matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
-        self.assertEqual(matches, {platform})
+        assert matches == {platform}
 
   def test_match_fw_fuzzy(self):
     offline_fw = {
@@ -132,18 +131,14 @@ class TestFordFW(unittest.TestCase):
       (0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
     }
     candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
-    self.assertEqual(candidates, {expected_fingerprint})
+    assert candidates == {expected_fingerprint}
 
     # model year hint in between the range should match
     live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
     candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
-    self.assertEqual(candidates, {expected_fingerprint})
+    assert candidates == {expected_fingerprint}
 
     # unseen model year hint should not match
     live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
     candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
-    self.assertEqual(len(candidates), 0, "Should not match new model year hint")
+    assert len(candidates) == 0, "Should not match new model year hint"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/gm/tests/test_gm.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from parameterized import parameterized
-import unittest
 
 from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
 from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
@@ -8,19 +7,15 @@ from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
 CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
 
 
-class TestGMFingerprint(unittest.TestCase):
+class TestGMFingerprint:
   @parameterized.expand(FINGERPRINTS.items())
   def test_can_fingerprints(self, car_model, fingerprints):
-    self.assertGreater(len(fingerprints), 0)
+    assert len(fingerprints) > 0
 
-    self.assertTrue(all(len(finger) for finger in fingerprints))
+    assert all(len(finger) for finger in fingerprints)
 
     # The camera can sometimes be communicating on startup
     if car_model in CAMERA_ACC_CAR:
       for finger in fingerprints:
         for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
-          self.assertEqual(finger.get(required_addr), 8, required_addr)
+          assert finger.get(required_addr) == 8, required_addr
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/honda/fingerprints.py

@@ -882,6 +882,7 @@ FW_VERSIONS = {
       b'37805-5YF-A430\x00\x00',
       b'37805-5YF-A750\x00\x00',
       b'37805-5YF-A760\x00\x00',
+      b'37805-5YF-A770\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A860\x00\x00',
       b'37805-5YF-A870\x00\x00',

selfdrive/car/honda/tests/test_honda.py

@@ -1,20 +1,15 @@
 #!/usr/bin/env python3
 import re
-import unittest
 
 from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS
 
 HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
 
 
-class TestHondaFingerprint(unittest.TestCase):
+class TestHondaFingerprint:
   def test_fw_version_format(self):
     # Asserts all FW versions follow an expected format
     for fw_by_ecu in FW_VERSIONS.values():
       for fws in fw_by_ecu.values():
         for fw in fws:
-          self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw)
+          assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/hyundai/fingerprints.py

@@ -1002,6 +1002,7 @@ FW_VERSIONS = {
   },
   CAR.HYUNDAI_TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from hypothesis import settings, given, strategies as st
-import unittest
+
+import pytest
 
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
@@ -39,19 +40,19 @@ NO_DATES_PLATFORMS = {
 CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
 
 
-class TestHyundaiFingerprint(unittest.TestCase):
+class TestHyundaiFingerprint:
   def test_can_features(self):
     # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
-    self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
+    assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()
 
     # Test CAN FD car not in CAN feature lists
     can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
     for car_model in CANFD_CAR:
-      self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
+      assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list"
 
   def test_hybrid_ev_sets(self):
-    self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
+    assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV"
-    self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
+    assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported"
 
   def test_canfd_ecu_whitelist(self):
     # Asserts only expected Ecus can exist in database for CAN-FD cars
@@ -59,34 +60,34 @@ class TestHyundaiFingerprint(unittest.TestCase):
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
       ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
       ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
-      self.assertEqual(len(ecus_not_in_whitelist), 0,
+      assert len(ecus_not_in_whitelist) == 0, \
-                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")
+                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"
 
-  def test_blacklisted_parts(self):
+  def test_blacklisted_parts(self, subtests):
     # Asserts no ECUs known to be shared across platforms exist in the database.
     # Tucson having Santa Cruz camera and EPS for example
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
-          raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
+          pytest.skip("Skip checking Santa Cruz for its parts")
 
         for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
           if b"-" not in code:
             continue
           part = code.split(b"-")[1]
-          self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
+          assert not part.startswith(b'CW'), "Car has bad part number"
 
-  def test_correct_ecu_response_database(self):
+  def test_correct_ecu_response_database(self, subtests):
     """
     Assert standard responses for certain ECUs, since they can
     respond to multiple queries with different data
     """
     expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for ecu, fws in ecus.items():
-          self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+          assert all(fw.startswith(expected_fw_prefix) for fw in fws), \
-                          f"FW from unexpected request in database: {(ecu, fws)}")
+                          f"FW from unexpected request in database: {(ecu, fws)}"
 
   @settings(max_examples=100)
   @given(data=st.data())
@@ -96,10 +97,10 @@ class TestHyundaiFingerprint(unittest.TestCase):
     fws = data.draw(fw_strategy)
     get_platform_codes(fws)
 
-  def test_expected_platform_codes(self):
+  def test_expected_platform_codes(self, subtests):
     # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue
@@ -107,37 +108,37 @@ class TestHyundaiFingerprint(unittest.TestCase):
           # Third and fourth character are usually EV/hybrid identifiers
           codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
           if car_model == CAR.HYUNDAI_PALISADE:
-            self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
+            assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}"
           elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
-            self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
+            assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}"
           else:
-            self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
+            assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}"
 
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
-  def test_platform_code_ecus_available(self):
+  def test_platform_code_ecus_available(self, subtests):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
                                     CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
             continue
           if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
             continue
-          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+          assert platform_code_ecu in [e[0] for e in ecus]
 
-  def test_fw_format(self):
+  def test_fw_format(self, subtests):
     # Asserts:
     # - every supported ECU FW version returns one platform code
     # - every supported ECU FW version has a part number
     # - expected parsing of ECU FW dates
 
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue
@@ -145,40 +146,40 @@ class TestHyundaiFingerprint(unittest.TestCase):
           codes = set()
           for fw in fws:
             result = get_platform_codes([fw])
-            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            assert 1 == len(result), f"Unable to parse FW: {fw}"
             codes |= result
 
           if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
-            self.assertTrue(all(date is None for _, date in codes))
+            assert all(date is None for _, date in codes)
           else:
-            self.assertTrue(all(date is not None for _, date in codes))
+            assert all(date is not None for _, date in codes)
 
           if car_model == CAR.HYUNDAI_GENESIS:
-            raise unittest.SkipTest("No part numbers for car model")
+            pytest.skip("No part numbers for car model")
 
           # Hyundai places the ECU part number in their FW versions, assert all parsable
           # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
-          self.assertTrue(all(b"-" in code for code, _ in codes),
+          assert all(b"-" in code for code, _ in codes), \
-                          f"FW does not have part number: {fw}")
+                          f"FW does not have part number: {fw}"
 
   def test_platform_codes_spot_check(self):
     # Asserts basic platform code parsing behavior for a few cases
     results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
-    self.assertEqual(results, {(b"DH", b"150210")})
+    assert results == {(b"DH", b"150210")}
 
     # Some cameras and all radars do not have dates
     results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
-    self.assertEqual(results, {(b"AEhe-G2000", None)})
+    assert results == {(b"AEhe-G2000", None)}
 
     results = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
-    self.assertEqual(results, {(b"CV1-CV000", None)})
+    assert results == {(b"CV1-CV000", None)}
 
     results = get_platform_codes([
       b"\xf1\x00DH LKAS 1.1 -150210",
       b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ",
       b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ",
     ])
-    self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
+    assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}
 
     results = get_platform_codes([
       b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 220222",
@@ -186,8 +187,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
       b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 190405",
       b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 190720",
     ])
-    self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
+    assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
-                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
+                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}
 
   def test_fuzzy_excluded_platforms(self):
     # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
@@ -211,12 +212,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
       CP = car.CarParams.new_message(carFw=car_fw)
       matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
       if len(matches) == 1:
-        self.assertEqual(list(matches)[0], platform)
+        assert list(matches)[0] == platform
       else:
         platforms_with_shared_codes.add(platform)
 
-    self.assertEqual(platforms_with_shared_codes, excluded_platforms)
+    assert platforms_with_shared_codes == excluded_platforms
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/hyundai/values.py

@@ -215,7 +215,7 @@ class CAR(Platforms):
     flags=HyundaiFlags.HYBRID,
   )
   HYUNDAI_KONA = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))],
+    [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
     CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CLUSTER_GEARS,
   )
@@ -323,6 +323,7 @@ class CAR(Platforms):
       HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
       HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
       HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
     ],
     CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
   )

selfdrive/car/interfaces.py

@@ -242,11 +242,10 @@ class CarInterfaceBase(ABC):
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
     # copy back for next iteration
-    reader = ret.as_reader()
     if self.CS is not None:
-      self.CS.out = reader
+      self.CS.out = ret.as_reader()
 
-    return reader
+    return ret
 
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
@@ -282,6 +281,10 @@ class CarInterfaceBase(ABC):
       events.add(EventName.accFaulted)
     if cs_out.steeringPressed:
       events.add(EventName.steerOverride)
+    if cs_out.brakePressed and cs_out.standstill:
+      events.add(EventName.preEnableStandstill)
+    if cs_out.gasPressed:
+      events.add(EventName.gasPressedOverride)
 
     # Handle button presses
     for b in cs_out.buttonEvents:

selfdrive/car/subaru/tests/test_subaru.py

@@ -1,5 +1,4 @@
 from cereal import car
-import unittest
 from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS
 
 Ecu = car.CarParams.Ecu
@@ -7,14 +6,11 @@ Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
-class TestSubaruFingerprint(unittest.TestCase):
+class TestSubaruFingerprint:
   def test_fw_version_format(self):
     for platform, fws_per_ecu in FW_VERSIONS.items():
       for (ecu, _, _), fws in fws_per_ecu.items():
         fw_size = len(fws[0])
         for fw in fws:
-          self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}")
+          assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}"
 
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/tests/test_can_fingerprint.py

@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 from parameterized import parameterized
-import unittest
 
 from cereal import log, messaging
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
 from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
 
-class TestCanFingerprint(unittest.TestCase):
+class TestCanFingerprint:
   @parameterized.expand(list(FINGERPRINTS.items()))
   def test_can_fingerprint(self, car_model, fingerprints):
     """Tests online fingerprinting function on offline fingerprints"""
@@ -21,12 +20,12 @@ class TestCanFingerprint(unittest.TestCase):
       empty_can = messaging.new_message('can', 0)
       car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
 
-      self.assertEqual(car_fingerprint, car_model)
+      assert car_fingerprint == car_model
-      self.assertEqual(finger[0], fingerprint)
+      assert finger[0] == fingerprint
-      self.assertEqual(finger[1], fingerprint)
+      assert finger[1] == fingerprint
-      self.assertEqual(finger[2], {})
+      assert finger[2] == {}
 
-  def test_timing(self):
+  def test_timing(self, subtests):
     # just pick any CAN fingerprinting car
     car_model = "CHEVROLET_BOLT_EUV"
     fingerprint = FINGERPRINTS[car_model][0]
@@ -50,7 +49,7 @@ class TestCanFingerprint(unittest.TestCase):
     cases.append((FRAME_FINGERPRINT * 2, None, can))
 
     for expected_frames, car_model, can in cases:
-      with self.subTest(expected_frames=expected_frames, car_model=car_model):
+      with subtests.test(expected_frames=expected_frames, car_model=car_model):
         frames = 0
 
         def test():
@@ -59,9 +58,5 @@ class TestCanFingerprint(unittest.TestCase):
           return can  # noqa: B023
 
         car_fingerprint, _ = can_fingerprint(test)
-        self.assertEqual(car_fingerprint, car_model)
+        assert car_fingerprint == car_model
-        self.assertEqual(frames, expected_frames + 2)  # TODO: fix extra frames
+        assert frames == expected_frames + 2# TODO: fix extra frames
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/tests/test_car_interfaces.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import os
 import math
-import unittest
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 import importlib
@@ -45,7 +44,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
   return params
 
 
-class TestCarInterfaces(unittest.TestCase):
+class TestCarInterfaces:
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
   @parameterized.expand([(car,) for car in sorted(all_known_cars())])
@@ -63,28 +62,28 @@ class TestCarInterfaces(unittest.TestCase):
     assert car_params
     assert car_interface
 
-    self.assertGreater(car_params.mass, 1)
+    assert car_params.mass > 1
-    self.assertGreater(car_params.wheelbase, 0)
+    assert car_params.wheelbase > 0
     # centerToFront is center of gravity to front wheels, assert a reasonable range
-    self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7)
+    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
-    self.assertGreater(car_params.maxLateralAccel, 0)
+    assert car_params.maxLateralAccel > 0
 
     # Longitudinal sanity checks
-    self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
+    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
-    self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
+    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-    self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
+    assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP)
 
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning
       if tune.which() == 'pid':
-        self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0)
+        assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
-        self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP))
+        assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
-        self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP))
+        assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
 
       elif tune.which() == 'torque':
-        self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
+        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
-        self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
+        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
@@ -93,7 +92,6 @@ class TestCarInterfaces(unittest.TestCase):
     for _ in range(10):
       car_interface.update(CC, [])
       car_interface.apply(CC, now_nanos)
-      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -101,7 +99,6 @@ class TestCarInterfaces(unittest.TestCase):
     for _ in range(10):
       car_interface.update(CC, [])
       car_interface.apply(CC, now_nanos)
-      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
@@ -130,33 +127,29 @@ class TestCarInterfaces(unittest.TestCase):
     if not car_params.radarUnavailable and radar_interface.rcp is not None:
       cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)]
       rr = radar_interface.update(cans)
-      self.assertTrue(rr is None or len(rr.errors) > 0)
+      assert rr is None or len(rr.errors) > 0
 
   def test_interface_attrs(self):
     """Asserts basic behavior of interface attribute getter"""
     num_brands = len(get_interface_attr('CAR'))
-    self.assertGreaterEqual(num_brands, 13)
+    assert num_brands >= 13
 
     # Should return value for all brands when not combining, even if attribute doesn't exist
     ret = get_interface_attr('FAKE_ATTR')
-    self.assertEqual(len(ret), num_brands)
+    assert len(ret) == num_brands
 
     # Make sure we can combine dicts
     ret = get_interface_attr('DBC', combine_brands=True)
-    self.assertGreaterEqual(len(ret), 160)
+    assert len(ret) >= 160
 
     # We don't support combining non-dicts
     ret = get_interface_attr('CAR', combine_brands=True)
-    self.assertEqual(len(ret), 0)
+    assert len(ret) == 0
 
     # If brand has None value, it shouldn't return when ignore_none=True is specified
     none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None}
-    self.assertGreaterEqual(len(none_brands), 1)
+    assert len(none_brands) >= 1
 
     ret = get_interface_attr('FINGERPRINTS', ignore_none=True)
     none_brands_in_ret = none_brands.intersection(ret)
-    self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}')
+    assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}'
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/tests/test_docs.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from collections import defaultdict
 import os
+import pytest
 import re
-import unittest
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.car_helpers import interfaces
@@ -14,9 +14,9 @@ from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
 from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 
 
-class TestCarDocs(unittest.TestCase):
+class TestCarDocs:
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     cls.all_cars = get_all_car_docs()
 
   def test_generator(self):
@@ -24,8 +24,7 @@ class TestCarDocs(unittest.TestCase):
     with open(CARS_MD_OUT) as f:
       current_cars_md = f.read()
 
-    self.assertEqual(generated_cars_md, current_cars_md,
+    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
-                     "Run selfdrive/car/docs.py to update the compatibility documentation")
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
@@ -33,65 +32,61 @@ class TestCarDocs(unittest.TestCase):
     print_car_docs_diff(dump_path)
     os.remove(dump_path)
 
-  def test_duplicate_years(self):
+  def test_duplicate_years(self, subtests):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
-      with self.subTest(car_docs_name=car.name):
+      with subtests.test(car_docs_name=car.name):
         make_model = (car.make, car.model)
         for year in car.year_list:
-          self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year")
+          assert year not in make_model_years[make_model], f"{car.name}: Duplicate model year"
           make_model_years[make_model].append(year)
 
-  def test_missing_car_docs(self):
+  def test_missing_car_docs(self, subtests):
     all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
     for platform in sorted(interfaces.keys()):
-      with self.subTest(platform=platform):
+      with subtests.test(platform=platform):
-        self.assertTrue(platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry")
+        assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry"
 
-  def test_naming_conventions(self):
+  def test_naming_conventions(self, subtests):
     # Asserts market-standard car naming conventions by brand
     for car in self.all_cars:
-      with self.subTest(car=car):
+      with subtests.test(car=car.name):
         tokens = car.model.lower().split(" ")
         if car.car_name == "hyundai":
-          self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
+          assert "phev" not in tokens, "Use `Plug-in Hybrid`"
-          self.assertNotIn("hev", tokens, "Use `Hybrid`")
+          assert "hev" not in tokens, "Use `Hybrid`"
           if "plug-in hybrid" in car.model.lower():
-            self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
+            assert "Plug-in Hybrid" in car.model, "Use correct capitalization"
           if car.make != "Kia":
-            self.assertNotIn("ev", tokens, "Use `Electric`")
+            assert "ev" not in tokens, "Use `Electric`"
         elif car.car_name == "toyota":
           if "rav4" in tokens:
-            self.assertIn("RAV4", car.model, "Use correct capitalization")
+            assert "RAV4" in car.model, "Use correct capitalization"
 
-  def test_torque_star(self):
+  def test_torque_star(self, subtests):
     # Asserts brand-specific assumptions around steering torque star
     for car in self.all_cars:
-      with self.subTest(car=car):
+      with subtests.test(car=car.name):
         # honda sanity check, it's the definition of a no torque star
         if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
-          self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
+          assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star"
         elif car.car_name in ("toyota", "hyundai"):
-          self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
+          assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star"
 
-  def test_year_format(self):
+  def test_year_format(self, subtests):
     for car in self.all_cars:
-      with self.subTest(car=car):
+      with subtests.test(car=car.name):
-        self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}")
+        assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}"
 
-  def test_harnesses(self):
+  def test_harnesses(self, subtests):
     for car in self.all_cars:
-      with self.subTest(car=car):
+      with subtests.test(car=car.name):
         if car.name == "comma body":
-          raise unittest.SkipTest
+          pytest.skip()
 
         car_part_type = [p.part_type for p in car.car_parts.all_parts()]
         car_parts = list(car.car_parts.all_parts())
-        self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}")
+        assert len(car_parts) > 0, f"Need to specify car parts: {car.name}"
-        self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}")
+        assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}"
-        self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}")
+        assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}"
-        self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}")
+        assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/tests/test_fw_fingerprint.py

@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
+import pytest
 import random
 import time
-import unittest
 from collections import defaultdict
 from parameterized import parameterized
-from unittest import mock
 
 from cereal import car
 from openpilot.selfdrive.car.car_helpers import interfaces
@@ -27,11 +26,11 @@ class FakeSocket:
     pass
 
 
-class TestFwFingerprint(unittest.TestCase):
+class TestFwFingerprint:
   def assertFingerprints(self, candidates, expected):
     candidates = list(candidates)
-    self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
+    assert len(candidates) == 1, f"got more than one candidate: {candidates}"
-    self.assertEqual(candidates[0], expected)
+    assert candidates[0] == expected
 
   @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
   def test_exact_match(self, brand, car_model, ecus, test_non_essential):
@@ -62,7 +61,7 @@ class TestFwFingerprint(unittest.TestCase):
     # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
     config = FW_QUERY_CONFIGS[brand]
     if config.match_fw_to_car_fuzzy is None:
-      raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")
+      pytest.skip("Brand does not implement custom fuzzy fingerprinting function")
 
     CP = car.CarParams.new_message()
     for _ in range(5):
@@ -77,14 +76,14 @@ class TestFwFingerprint(unittest.TestCase):
 
       # If both have matches, they must agree
       if len(matches) == 1 and len(brand_matches) == 1:
-        self.assertEqual(matches, brand_matches)
+        assert matches == brand_matches
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
   def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
     # Asserts that fuzzy matching does not count matching FW, but ECU address keys
     valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
     if not len(valid_ecus):
-      raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")
+      pytest.skip("Car model has no compatible ECUs for fuzzy matching")
 
     fw = []
     for ecu in valid_ecus:
@@ -99,19 +98,19 @@ class TestFwFingerprint(unittest.TestCase):
       # Assert no match if there are not enough unique ECUs
       unique_ecus = {(f['address'], f['subAddress']) for f in fw}
       if len(unique_ecus) < 2:
-        self.assertEqual(len(matches), 0, car_model)
+        assert len(matches) == 0, car_model
       # There won't always be a match due to shared FW, but if there is it should be correct
       elif len(matches):
         self.assertFingerprints(matches, car_model)
 
-  def test_fw_version_lists(self):
+  def test_fw_version_lists(self, subtests):
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for ecu, ecu_fw in ecus.items():
-          with self.subTest(ecu):
+          with subtests.test(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-            self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
+            assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}'
-            self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')
+            assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}'
 
   def test_all_addrs_map_to_one_ecu(self):
     for brand, cars in VERSIONS.items():
@@ -121,59 +120,59 @@ class TestFwFingerprint(unittest.TestCase):
           addr_to_ecu[(addr, sub_addr)].add(ecu_type)
           ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
           ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
-          self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")
+          assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})"
 
-  def test_data_collection_ecus(self):
+  def test_data_collection_ecus(self, subtests):
     # Asserts no extra ECUs are in the fingerprinting database
     for brand, config in FW_QUERY_CONFIGS.items():
       for car_model, ecus in VERSIONS[brand].items():
         bad_ecus = set(ecus).intersection(config.extra_ecus)
-        with self.subTest(car_model=car_model.value):
+        with subtests.test(car_model=car_model.value):
-          self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
+          assert not len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}'
 
-  def test_blacklisted_ecus(self):
+  def test_blacklisted_ecus(self, subtests):
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():
-            self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
+            assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})'
 
         elif CP.carName == "chrysler":
           # Some HD trucks have a combined TCM and ECM
           if CP.carFingerprint.startswith("RAM HD"):
             for ecu in ecus.keys():
-              self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
+              assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})"
 
-  def test_non_essential_ecus(self):
+  def test_non_essential_ecus(self, subtests):
     for brand, config in FW_QUERY_CONFIGS.items():
-      with self.subTest(brand):
+      with subtests.test(brand):
         # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
         unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS)
-        self.assertEqual(unnecessary_non_essential_ecus, set(), "Declaring non-essential ECUs non-essential is not required: " +
+        assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \
-                                                                f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}")
+                                                                f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}"
 
-  def test_missing_versions_and_configs(self):
+  def test_missing_versions_and_configs(self, subtests):
     brand_versions = set(VERSIONS.keys())
     brand_configs = set(FW_QUERY_CONFIGS.keys())
     if len(brand_configs - brand_versions):
-      with self.subTest():
+      with subtests.test():
-        self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
+        pytest.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
 
     if len(brand_versions - brand_configs):
-      with self.subTest():
+      with subtests.test():
-        self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
+        pytest.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
 
     # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval
     for brand, config in FW_QUERY_CONFIGS.items():
-      self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0)
+      assert len(config.get_all_ecus({}, include_extra_ecus=False)) == 0
-      self.assertEqual(config.get_all_ecus({}), set(config.extra_ecus))
+      assert config.get_all_ecus({}) == set(config.extra_ecus)
-      self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0)
+      assert len(config.get_all_ecus(VERSIONS[brand])) > 0
 
-  def test_fw_request_ecu_whitelist(self):
+  def test_fw_request_ecu_whitelist(self, subtests):
     for brand, config in FW_QUERY_CONFIGS.items():
-      with self.subTest(brand=brand):
+      with subtests.test(brand=brand):
         whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
         brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
         brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
@@ -182,30 +181,30 @@ class TestFwFingerprint(unittest.TestCase):
         ecus_not_whitelisted = brand_ecus - whitelisted_ecus
 
         ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
-        self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
+        assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \
-                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')
+                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}'
 
-  def test_fw_requests(self):
+  def test_fw_requests(self, subtests):
     # Asserts equal length request and response lists
     for brand, config in FW_QUERY_CONFIGS.items():
-      with self.subTest(brand=brand):
+      with subtests.test(brand=brand):
         for request_obj in config.requests:
-          self.assertEqual(len(request_obj.request), len(request_obj.response))
+          assert len(request_obj.request) == len(request_obj.response)
 
           # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
-          self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing,
+          assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), \
-                           f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}")
+                           f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}"
 
   def test_brand_ecu_matches(self):
     empty_response = {brand: set() for brand in FW_QUERY_CONFIGS}
-    self.assertEqual(get_brand_ecu_matches(set()), empty_response)
+    assert get_brand_ecu_matches(set()) == empty_response
 
     # we ignore bus
     expected_response = empty_response | {'toyota': {(0x750, 0xf)}}
-    self.assertEqual(get_brand_ecu_matches({(0x758, 0xf, 99)}), expected_response)
+    assert get_brand_ecu_matches({(0x758, 0xf, 99)}) == expected_response
 
 
-class TestFwFingerprintTiming(unittest.TestCase):
+class TestFwFingerprintTiming:
   N: int = 5
   TOL: float = 0.05
 
@@ -223,26 +222,26 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self.total_time += timeout
     return {}
 
-  def _benchmark_brand(self, brand, num_pandas):
+  def _benchmark_brand(self, brand, num_pandas, mocker):
     fake_socket = FakeSocket()
     self.total_time = 0
-    with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing),
+    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
-          mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+    mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
-      for _ in range(self.N):
+    for _ in range(self.N):
-        # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
+      # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
-        self.current_obd_multiplexing = True
+      self.current_obd_multiplexing = True
 
-        t = time.perf_counter()
+      t = time.perf_counter()
-        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas)
+      get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas)
-        self.total_time += time.perf_counter() - t
+      self.total_time += time.perf_counter() - t
 
     return self.total_time / self.N
 
   def _assert_timing(self, avg_time, ref_time):
-    self.assertLess(avg_time, ref_time + self.TOL)
+    assert avg_time < ref_time + self.TOL
-    self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
+    assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs."
 
-  def test_startup_timing(self):
+  def test_startup_timing(self, subtests, mocker):
     # Tests worse-case VIN query time and typical present ECU query time
     vin_ref_times = {'worst': 1.4, 'best': 0.7}  # best assumes we go through all queries to get a match
     present_ecu_ref_time = 0.45
@@ -253,24 +252,24 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
     fake_socket = FakeSocket()
     self.total_time = 0.0
-    with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing),
+    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
-          mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)):
+    mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
-      for _ in range(self.N):
+    for _ in range(self.N):
-        self.current_obd_multiplexing = True
+      self.current_obd_multiplexing = True
-        get_present_ecus(fake_socket, fake_socket, num_pandas=2)
+      get_present_ecus(fake_socket, fake_socket, num_pandas=2)
     self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
     print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
 
     for name, args in (('worst', {}), ('best', {'retry': 1})):
-      with self.subTest(name=name):
+      with subtests.test(name=name):
         self.total_time = 0.0
-        with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+        mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
-          for _ in range(self.N):
+        for _ in range(self.N):
-            get_vin(fake_socket, fake_socket, (0, 1), **args)
+          get_vin(fake_socket, fake_socket, (0, 1), **args)
         self._assert_timing(self.total_time / self.N, vin_ref_times[name])
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
-  def test_fw_query_timing(self):
+  def test_fw_query_timing(self, subtests, mocker):
     total_ref_time = {1: 7.2, 2: 7.8}
     brand_ref_times = {
       1: {
@@ -297,8 +296,8 @@ class TestFwFingerprintTiming(unittest.TestCase):
     total_times = {1: 0.0, 2: 0.0}
     for num_pandas in (1, 2):
       for brand, config in FW_QUERY_CONFIGS.items():
-        with self.subTest(brand=brand, num_pandas=num_pandas):
+        with subtests.test(brand=brand, num_pandas=num_pandas):
-          avg_time = self._benchmark_brand(brand, num_pandas)
+          avg_time = self._benchmark_brand(brand, num_pandas, mocker)
           total_times[num_pandas] += avg_time
           avg_time = round(avg_time, 2)
 
@@ -311,11 +310,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
     for num_pandas in (1, 2):
-      with self.subTest(brand='all_brands', num_pandas=num_pandas):
+      with subtests.test(brand='all_brands', num_pandas=num_pandas):
         total_time = round(total_times[num_pandas], 2)
         self._assert_timing(total_time, total_ref_time[num_pandas])
         print(f'all brands, total FW query time={total_time} seconds')
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/tests/test_lateral_limits.py

@@ -2,8 +2,7 @@
 from collections import defaultdict
 import importlib
 from parameterized import parameterized_class
-import sys
+import pytest
-import unittest
 
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
@@ -25,23 +24,23 @@ car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
 
 
 @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
-class TestLateralLimits(unittest.TestCase):
+class TestLateralLimits:
   car_model: str
 
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     CarInterface, _, _ = interfaces[cls.car_model]
     CP = CarInterface.get_non_essential_params(cls.car_model)
 
     if CP.dashcamOnly:
-      raise unittest.SkipTest("Platform is behind dashcamOnly")
+      pytest.skip("Platform is behind dashcamOnly")
 
     # TODO: test all platforms
     if CP.lateralTuning.which() != 'torque':
-      raise unittest.SkipTest
+      pytest.skip()
 
     if CP.notCar:
-      raise unittest.SkipTest
+      pytest.skip()
 
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
@@ -66,26 +65,8 @@ class TestLateralLimits(unittest.TestCase):
   def test_jerk_limits(self):
     up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
     car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
-    self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE)
+    assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
-    self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN)
+    assert down_jerk <= MAX_LAT_JERK_DOWN
 
   def test_max_lateral_accel(self):
-    self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL)
+    assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL
-
-
-if __name__ == "__main__":
-  result = unittest.main(exit=False)
-
-  print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
-
-  max_car_model_len = max([len(car_model) for car_model in car_model_jerks])
-  for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
-    violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
-                _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
-    violation_str = " - VIOLATION" if violation else ""
-
-    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
-          f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
-
-  # exit with test result
-  sys.exit(not result.result.wasSuccessful())

selfdrive/car/tests/test_models.py

@@ -4,7 +4,7 @@ import os
 import importlib
 import pytest
 import random
-import unittest
+import unittest # noqa: TID251
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
@@ -15,12 +15,12 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.card import CarD
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
@@ -406,8 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    controlsd = Controls(CI=self.CI)
+    card = CarD(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):
@@ -452,10 +451,10 @@ 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
-        controlsd.update_events(CS)
+        card.update_events(CS)
-        controlsd.CS_prev = CS
+        card.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))
+                         not any(evt == EventName.pedalPressed for evt in card.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()

selfdrive/car/tests/test_platform_configs.py

@@ -1,25 +1,19 @@
 #!/usr/bin/env python3
 
-import unittest
-
 from openpilot.selfdrive.car.values import PLATFORMS
 
 
-class TestPlatformConfigs(unittest.TestCase):
+class TestPlatformConfigs:
-  def test_configs(self):
+  def test_configs(self, subtests):
 
     for name, platform in PLATFORMS.items():
-      with self.subTest(platform=str(platform)):
+      with subtests.test(platform=str(platform)):
-        self.assertTrue(platform.config._frozen)
+        assert platform.config._frozen
 
         if platform != "MOCK":
-          self.assertIn("pt", platform.config.dbc_dict)
+          assert "pt" in platform.config.dbc_dict
-        self.assertTrue(len(platform.config.platform_str) > 0)
+        assert len(platform.config.platform_str) > 0
-
-        self.assertEqual(name, platform.config.platform_str)
-
-        self.assertIsNotNone(platform.config.specs)
 
+        assert name == platform.config.platform_str
 
-if __name__ == "__main__":
+        assert platform.config.specs is not None
-  unittest.main()

selfdrive/car/toyota/carcontroller.py

@@ -102,11 +102,6 @@ class CarController(CarControllerBase):
     # *** gas and brake ***
     pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
-    # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
-    # than CS.cruiseState.enabled. confirm they're not meaningfully different
-    if not CC.enabled and CS.pcm_acc_status:
-      pcm_cancel_cmd = 1
-
     # on entering standstill, send standstill request
     if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
       self.standstill_req = True

selfdrive/car/toyota/fingerprints.py

@@ -1141,6 +1141,7 @@ FW_VERSIONS = {
   CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R50000\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
       b'\x01F15264283200\x00\x00\x00\x00',
       b'\x01F15264283300\x00\x00\x00\x00',
@@ -1162,6 +1163,7 @@ FW_VERSIONS = {
       b'\x01896634AJ2000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
       b'\x01896634AL6000\x00\x00\x00\x00',
+      b'\x01896634AL8000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',

selfdrive/car/toyota/tests/test_toyota.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from hypothesis import given, settings, strategies as st
-import unittest
 
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
@@ -17,59 +16,58 @@ def check_fw_version(fw_version: bytes) -> bool:
   return b'?' not in fw_version
 
 
-class TestToyotaInterfaces(unittest.TestCase):
+class TestToyotaInterfaces:
   def test_car_sets(self):
-    self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
+    assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0
-    self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0)
+    assert len(RADAR_ACC_CAR - TSS2_CAR) == 0
 
   def test_lta_platforms(self):
     # At this time, only RAV4 2023 is expected to use LTA/angle control
-    self.assertEqual(ANGLE_CONTROL_CAR, {CAR.TOYOTA_RAV4_TSS2_2023})
+    assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
 
   def test_tss2_dbc(self):
     # We make some assumptions about TSS2 platforms,
     # like looking up certain signals only in this DBC
     for car_model, dbc in DBC.items():
       if car_model in TSS2_CAR:
-        self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")
+        assert dbc["pt"] == "toyota_nodsu_pt_generated"
 
-  def test_essential_ecus(self):
+  def test_essential_ecus(self, subtests):
     # Asserts standard ECUs exist for each platform
     common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         present_ecus = {ecu[0] for ecu in ecus}
         missing_ecus = common_ecus - present_ecus
-        self.assertEqual(len(missing_ecus), 0)
+        assert len(missing_ecus) == 0
 
         # Some exceptions for other common ECUs
         if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,):
-          self.assertIn(Ecu.abs, present_ecus)
+          assert Ecu.abs in present_ecus
 
         if car_model not in (CAR.TOYOTA_MIRAI,):
-          self.assertIn(Ecu.engine, present_ecus)
+          assert Ecu.engine in present_ecus
 
         if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH):
-          self.assertIn(Ecu.eps, present_ecus)
+          assert Ecu.eps in present_ecus
 
 
-class TestToyotaFingerprint(unittest.TestCase):
+class TestToyotaFingerprint:
-  def test_non_essential_ecus(self):
+  def test_non_essential_ecus(self, subtests):
     # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
-        self.assertEqual(len(engine_ecus) > 1,
+        assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \
-                         car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
+          f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list"
-                         f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")
 
-  def test_valid_fw_versions(self):
+  def test_valid_fw_versions(self, subtests):
     # Asserts all FW versions are valid
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for fws in ecus.values():
           for fw in fws:
-            self.assertTrue(check_fw_version(fw), fw)
+            assert check_fw_version(fw), fw
 
   # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
   # fingerprint in the absence of full FW matches:
@@ -80,25 +78,25 @@ class TestToyotaFingerprint(unittest.TestCase):
     fws = data.draw(fw_strategy)
     get_platform_codes(fws)
 
-  def test_platform_code_ecus_available(self):
+  def test_platform_code_ecus_available(self, subtests):
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
             continue
           if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,):
             continue
-          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+          assert platform_code_ecu in [e[0] for e in ecus]
 
-  def test_fw_format(self):
+  def test_fw_format(self, subtests):
     # Asserts:
     # - every supported ECU FW version returns one platform code
     # - every supported ECU FW version has a part number
     # - expected parsing of ECU sub-versions
 
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model.value):
+      with subtests.test(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue
@@ -107,15 +105,14 @@ class TestToyotaFingerprint(unittest.TestCase):
           for fw in fws:
             result = get_platform_codes([fw])
             # Check only one platform code and sub-version
-            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            assert 1 == len(result), f"Unable to parse FW: {fw}"
-            self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}")
+            assert 1 == len(list(result.values())[0]), f"Unable to parse FW: {fw}"
             codes |= result
 
           # Toyota places the ECU part number in their FW versions, assert all parsable
           # Note that there is only one unique part number per ECU across the fleet, so this
           # is not important for identification, just a sanity check.
-          self.assertTrue(all(code.count(b"-") > 1 for code in codes),
+          assert all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}"
-                          f"FW does not have part number: {fw} {codes}")
 
   def test_platform_codes_spot_check(self):
     # Asserts basic platform code parsing behavior for a few cases
@@ -125,20 +122,20 @@ class TestToyotaFingerprint(unittest.TestCase):
       b"F152607110\x00\x00\x00\x00\x00\x00",
       b"F152607180\x00\x00\x00\x00\x00\x00",
     ])
-    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}})
+    assert results == {b"F1526-07-1": {b"10", b"40", b"71", b"80"}}
 
     results = get_platform_codes([
       b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
       b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
     ])
-    self.assertEqual(results, {b"8646F-41-04": {b"100"}})
+    assert results == {b"8646F-41-04": {b"100"}}
 
     # Short version has no part number
     results = get_platform_codes([
       b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
       b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
     ])
-    self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}})
+    assert results == {b"58-70": {b"000"}, b"58-83": {b"000"}}
 
     results = get_platform_codes([
       b"F152607110\x00\x00\x00\x00\x00\x00",
@@ -146,7 +143,7 @@ class TestToyotaFingerprint(unittest.TestCase):
       b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
       b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
     ])
-    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}})
+    assert results == {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}}
 
   def test_fuzzy_excluded_platforms(self):
     # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
@@ -162,13 +159,9 @@ class TestToyotaFingerprint(unittest.TestCase):
       CP = car.CarParams.new_message(carFw=car_fw)
       matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
       if len(matches) == 1:
-        self.assertEqual(list(matches)[0], platform)
+        assert list(matches)[0] == platform
       else:
         # If a platform has multiple matches, add it and its matches
         platforms_with_shared_codes |= {str(platform), *matches}
 
-    self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
+    assert platforms_with_shared_codes == FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/volkswagen/carstate.py

@@ -259,7 +259,7 @@ class CarState(CarStateBase):
     # DISABLED means the EPS hasn't been configured to support Lane Assist
     self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
     perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT"))
-    temp_fault = hca_status == "REJECTED" or not self.eps_init_complete
+    temp_fault = hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
     return temp_fault, perm_fault
 
   @staticmethod

selfdrive/car/volkswagen/tests/test_volkswagen.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import random
 import re
-import unittest
 
 from cereal import car
 from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
@@ -14,35 +13,35 @@ CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}')
 SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<unknown>[0-9][0-9A-Z][0-9])(?P<unknown2>[0-9A-Z]{2}[0-9])([A-Z0-9]| )')
 
 
-class TestVolkswagenPlatformConfigs(unittest.TestCase):
+class TestVolkswagenPlatformConfigs:
-  def test_spare_part_fw_pattern(self):
+  def test_spare_part_fw_pattern(self, subtests):
     # Relied on for determining if a FW is likely VW
     for platform, ecus in FW_VERSIONS.items():
-      with self.subTest(platform=platform):
+      with subtests.test(platform=platform.value):
         for fws in ecus.values():
           for fw in fws:
-            self.assertNotEqual(SPARE_PART_FW_PATTERN.match(fw), None, f"Bad FW: {fw}")
+            assert SPARE_PART_FW_PATTERN.match(fw) is not None, f"Bad FW: {fw}"
 
-  def test_chassis_codes(self):
+  def test_chassis_codes(self, subtests):
     for platform in CAR:
-      with self.subTest(platform=platform):
+      with subtests.test(platform=platform.value):
-        self.assertTrue(len(platform.config.wmis) > 0, "WMIs not set")
+        assert len(platform.config.wmis) > 0, "WMIs not set"
-        self.assertTrue(len(platform.config.chassis_codes) > 0, "Chassis codes not set")
+        assert len(platform.config.chassis_codes) > 0, "Chassis codes not set"
-        self.assertTrue(all(CHASSIS_CODE_PATTERN.match(cc) for cc in
+        assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \
-                            platform.config.chassis_codes), "Bad chassis codes")
+                            platform.config.chassis_codes), "Bad chassis codes"
 
         # No two platforms should share chassis codes
         for comp in CAR:
           if platform == comp:
             continue
-          self.assertEqual(set(), platform.config.chassis_codes & comp.config.chassis_codes,
+          assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \
-                           f"Shared chassis codes: {comp}")
+                           f"Shared chassis codes: {comp}"
 
-  def test_custom_fuzzy_fingerprinting(self):
+  def test_custom_fuzzy_fingerprinting(self, subtests):
     all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
 
     for platform in CAR:
-      with self.subTest(platform=platform):
+      with subtests.test(platform=platform.name):
         for wmi in WMI:
           for chassis_code in platform.config.chassis_codes | {"00"}:
             vin = ["0"] * 17
@@ -59,8 +58,4 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase):
               matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
 
               expected_matches = {platform} if should_match else set()
-              self.assertEqual(expected_matches, matches, "Bad match")
+              assert expected_matches == matches, "Bad match"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/controlsd.py

@@ -96,7 +96,6 @@ class Controls:
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
 
     # read params
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
@@ -111,7 +110,6 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
-    self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -142,7 +140,6 @@ class Controls:
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.steer_limited = False
-    self.last_actuators = car.CarControl.Actuators.new_message()
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
@@ -169,7 +166,7 @@ class Controls:
 
   def set_initial_state(self):
     if REPLAY:
-      controls_state = Params().get("ReplayControlsState")
+      controls_state = self.params.get("ReplayControlsState")
       if controls_state is not None:
         with log.ControlsState.from_bytes(controls_state) as controls_state:
           self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
@@ -206,18 +203,6 @@ class Controls:
     if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
-    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
-      self.events.add(EventName.pedalPressed)
-
-    if CS.brakePressed and CS.standstill:
-      self.events.add(EventName.preEnableStandstill)
-
-    if CS.gasPressed:
-      self.events.add(EventName.gasPressedOverride)
-
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -311,7 +296,7 @@ class Controls:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
+    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
@@ -620,7 +605,7 @@ class Controls:
         undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
         turning = abs(lac_log.desiredLateralAccel) > 1.0
         good_speed = CS.vEgo > 5
-        max_torque = abs(self.last_actuators.steer) > 0.99
+        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
         if undershooting and turning and good_speed and max_torque:
           lac_log.active and self.events.add(EventName.steerSaturated)
       elif lac_log.saturated:
@@ -661,8 +646,6 @@ class Controls:
   def publish_logs(self, CS, start_time, CC, lac_log):
     """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
-    CO = self.sm['carOutput']
-
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
     orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
@@ -726,8 +709,8 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      self.card.controls_update(CC)
+      self.card.controls_update(CS, CC)
-      self.last_actuators = CO.actuatorsOutput
+      CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                              STEER_ANGLE_SATURATION_THRESHOLD
@@ -824,8 +807,6 @@ class Controls:
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
-    self.CS_prev = CS
-
   def read_personality_param(self):
     try:
       return int(self.params.get('LongitudinalPersonality'))

selfdrive/controls/lib/events.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import bisect
 import math
 import os
 from enum import IntEnum
@@ -61,8 +62,8 @@ class Events:
 
   def add(self, event_name: int, static: bool=False) -> None:
     if static:
-      self.static_events.append(event_name)
+      bisect.insort(self.static_events, event_name)
-    self.events.append(event_name)
+    bisect.insort(self.events, event_name)
 
   def clear(self) -> None:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
@@ -92,7 +93,7 @@ class Events:
 
   def add_from_msg(self, events):
     for e in events:
-      self.events.append(e.name.raw)
+      bisect.insort(self.events, e.name.raw)
 
   def to_msg(self):
     ret = []
@@ -330,6 +331,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
   EventName.stockFcw: {},
+  EventName.actuatorsApiUnavailable: {},
 
   # ********** events only containing alerts displayed in all states **********
 
@@ -486,7 +488,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Press Resume to Exit Standstill",
       "",
       AlertStatus.userPrompt, AlertSize.small,
-      Priority.MID, VisualAlert.none, AudibleAlert.none, .2),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.belowSteerSpeed: {

selfdrive/controls/lib/tests/test_alertmanager.py

@@ -1,12 +1,11 @@
 #!/usr/bin/env python3
 import random
-import unittest
 
 from openpilot.selfdrive.controls.lib.events import Alert, EVENTS
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
 
 
-class TestAlertManager(unittest.TestCase):
+class TestAlertManager:
 
   def test_duration(self):
     """
@@ -38,8 +37,4 @@ class TestAlertManager(unittest.TestCase):
 
           shown = current_alert is not None
           should_show = frame <= show_duration
-          self.assertEqual(shown, should_show, msg=f"{frame=} {add_duration=} {duration=}")
+          assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -1,6 +1,4 @@
 #!/usr/bin/env python3
-import unittest
-
 from parameterized import parameterized
 
 from cereal import car, log
@@ -15,7 +13,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.common.mock.generators import generate_liveLocationKalman
 
 
-class TestLatControl(unittest.TestCase):
+class TestLatControl:
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
@@ -36,8 +34,4 @@ class TestLatControl(unittest.TestCase):
     for _ in range(1000):
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
 
-    self.assertTrue(lac_log.saturated)
+    assert lac_log.saturated
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
+import pytest
 import math
-import unittest
 
 import numpy as np
 from control import StateSpace
@@ -10,8 +10,8 @@ from openpilot.selfdrive.car.honda.values import CAR
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
-class TestVehicleModel(unittest.TestCase):
+class TestVehicleModel:
-  def setUp(self):
+  def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
     self.VM = VehicleModel(CP)
 
@@ -23,7 +23,7 @@ class TestVehicleModel(unittest.TestCase):
           yr = self.VM.yaw_rate(sa, u, roll)
           new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll)
 
-          self.assertAlmostEqual(sa, new_sa)
+          assert sa == pytest.approx(new_sa)
 
   def test_dyn_ss_sol_against_yaw_rate(self):
     """Verify that the yaw_rate helper function matches the results
@@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase):
 
           # Compute yaw rate using direct computations
           yr2 = self.VM.yaw_rate(sa, u, roll)
-          self.assertAlmostEqual(float(yr1[0]), yr2)
+          assert float(yr1[0]) == pytest.approx(yr2)
 
   def test_syn_ss_sol_simulate(self):
     """Verifies that dyn_ss_sol matches a simulation"""
@@ -63,8 +63,3 @@ class TestVehicleModel(unittest.TestCase):
           x2 = dyn_ss_sol(sa, u, roll, self.VM)
 
           np.testing.assert_almost_equal(x1, x2, decimal=3)
-
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/tests/test_alerts.py

@@ -2,7 +2,6 @@
 import copy
 import json
 import os
-import unittest
 import random
 from PIL import Image, ImageDraw, ImageFont
 
@@ -25,10 +24,10 @@ for event_types in EVENTS.values():
     ALERTS.append(alert)
 
 
-class TestAlerts(unittest.TestCase):
+class TestAlerts:
 
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     with open(OFFROAD_ALERTS_PATH) as f:
       cls.offroad_alerts = json.loads(f.read())
 
@@ -45,7 +44,7 @@ class TestAlerts(unittest.TestCase):
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):
         fail_msg = "%s @%d not in EVENTS" % (name, e)
-        self.assertTrue(e in EVENTS.keys(), msg=fail_msg)
+        assert e in EVENTS.keys(), fail_msg
 
   # ensure alert text doesn't exceed allowed width
   def test_alert_text_length(self):
@@ -80,7 +79,7 @@ class TestAlerts(unittest.TestCase):
         left, _, right, _ = draw.textbbox((0, 0), txt, font)
         width = right - left
         msg = f"type: {alert.alert_type} msg: {txt}"
-        self.assertLessEqual(width, max_text_width, msg=msg)
+        assert width <= max_text_width, msg
 
   def test_alert_sanity_check(self):
     for event_types in EVENTS.values():
@@ -90,21 +89,21 @@ class TestAlerts(unittest.TestCase):
           continue
 
         if a.alert_size == AlertSize.none:
-          self.assertEqual(len(a.alert_text_1), 0)
+          assert len(a.alert_text_1) == 0
-          self.assertEqual(len(a.alert_text_2), 0)
+          assert len(a.alert_text_2) == 0
         elif a.alert_size == AlertSize.small:
-          self.assertGreater(len(a.alert_text_1), 0)
+          assert len(a.alert_text_1) > 0
-          self.assertEqual(len(a.alert_text_2), 0)
+          assert len(a.alert_text_2) == 0
         elif a.alert_size == AlertSize.mid:
-          self.assertGreater(len(a.alert_text_1), 0)
+          assert len(a.alert_text_1) > 0
-          self.assertGreater(len(a.alert_text_2), 0)
+          assert len(a.alert_text_2) > 0
         else:
-          self.assertGreater(len(a.alert_text_1), 0)
+          assert len(a.alert_text_1) > 0
 
-        self.assertGreaterEqual(a.duration, 0.)
+        assert a.duration >= 0.
 
         if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
-          self.assertEqual(a.creation_delay, 0.)
+          assert a.creation_delay == 0.
 
   def test_offroad_alerts(self):
     params = Params()
@@ -113,11 +112,11 @@ class TestAlerts(unittest.TestCase):
       alert = copy.copy(self.offroad_alerts[a])
       set_offroad_alert(a, True)
       alert['extra'] = ''
-      self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8'))
+      assert json.dumps(alert) == params.get(a, encoding='utf8')
 
       # then delete it
       set_offroad_alert(a, False)
-      self.assertTrue(params.get(a) is None)
+      assert params.get(a) is None
 
   def test_offroad_alerts_extra_text(self):
     params = Params()
@@ -128,8 +127,5 @@ class TestAlerts(unittest.TestCase):
       set_offroad_alert(a, True, extra_text="a"*i)
 
       written_alert = json.loads(params.get(a, encoding='utf8'))
-      self.assertTrue("a"*i == written_alert['extra'])
+      assert "a"*i == written_alert['extra']
-      self.assertTrue(alert["text"] == written_alert['text'])
+      assert alert["text"] == written_alert['text']
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/tests/test_cruise_speed.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
+import pytest
 import itertools
 import numpy as np
-import unittest
 
 from parameterized import parameterized_class
 from cereal import log
@@ -36,19 +36,19 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
                       [True, False], # e2e
                       log.LongitudinalPersonality.schema.enumerants, # personality
                       [5,35])) # speed
-class TestCruiseSpeed(unittest.TestCase):
+class TestCruiseSpeed:
   def test_cruise_speed(self):
     print(f'Testing {self.speed} m/s')
     cruise_speed = float(self.speed)
 
     simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
-    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
+    assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
 # TODO: test pcmCruise
 @parameterized_class(('pcm_cruise',), [(False,)])
-class TestVCruiseHelper(unittest.TestCase):
+class TestVCruiseHelper:
-  def setUp(self):
+  def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.reset_cruise_speed_state()
@@ -75,7 +75,7 @@ class TestVCruiseHelper(unittest.TestCase):
         CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)]
 
         self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
-        self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+        assert pressed == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_rising_edge_enable(self):
     """
@@ -94,7 +94,7 @@ class TestVCruiseHelper(unittest.TestCase):
         self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
-      self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
 
   def test_resume_in_standstill(self):
     """
@@ -111,7 +111,7 @@ class TestVCruiseHelper(unittest.TestCase):
 
         # speed should only update if not at standstill and button falling edge
         should_equal = standstill or pressed
-        self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+        assert should_equal == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_set_gas_pressed(self):
     """
@@ -135,7 +135,7 @@ class TestVCruiseHelper(unittest.TestCase):
       # TODO: fix skipping first run due to enabled on rising edge exception
       if v_ego == 0.0:
         continue
-      self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph)
+      assert expected_v_cruise_kph == self.v_cruise_helper.v_cruise_kph
 
   def test_initialize_v_cruise(self):
     """
@@ -145,12 +145,8 @@ class TestVCruiseHelper(unittest.TestCase):
     for experimental_mode in (True, False):
       for v_ego in np.linspace(0, 100, 101):
         self.reset_cruise_speed_state()
-        self.assertFalse(self.v_cruise_helper.v_cruise_initialized)
+        assert not self.v_cruise_helper.v_cruise_initialized
 
         self.enable(float(v_ego), experimental_mode)
-        self.assertTrue(V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX)
+        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-        self.assertTrue(self.v_cruise_helper.v_cruise_initialized)
+        assert self.v_cruise_helper.v_cruise_initialized
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/tests/test_following_distance.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import unittest
+import pytest
 import itertools
 from parameterized import parameterized_class
 
@@ -32,14 +32,10 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
                       [0,10,35])) # speed
-class TestFollowingDistance(unittest.TestCase):
+class TestFollowingDistance():
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
-    self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/tests/test_lateral_mpc.py

@@ -1,4 +1,4 @@
-import unittest
+import pytest
 import numpy as np
 from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
@@ -27,20 +27,20 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur
   return lat_mpc.x_sol
 
 
-class TestLateralMpc(unittest.TestCase):
+class TestLateralMpc:
 
   def _assert_null(self, sol, curvature=1e-6):
     for i in range(len(sol)):
-      self.assertAlmostEqual(sol[0,i,1], 0., delta=curvature)
+      assert sol[0,i,1] == pytest.approx(0, abs=curvature)
-      self.assertAlmostEqual(sol[0,i,2], 0., delta=curvature)
+      assert sol[0,i,2] == pytest.approx(0, abs=curvature)
-      self.assertAlmostEqual(sol[0,i,3], 0., delta=curvature)
+      assert sol[0,i,3] == pytest.approx(0, abs=curvature)
 
   def _assert_simmetry(self, sol, curvature=1e-6):
     for i in range(len(sol)):
-      self.assertAlmostEqual(sol[0,i,1], -sol[1,i,1], delta=curvature)
+      assert sol[0,i,1] == pytest.approx(-sol[1,i,1], abs=curvature)
-      self.assertAlmostEqual(sol[0,i,2], -sol[1,i,2], delta=curvature)
+      assert sol[0,i,2] == pytest.approx(-sol[1,i,2], abs=curvature)
-      self.assertAlmostEqual(sol[0,i,3], -sol[1,i,3], delta=curvature)
+      assert sol[0,i,3] == pytest.approx(-sol[1,i,3], abs=curvature)
-      self.assertAlmostEqual(sol[0,i,0], sol[1,i,0], delta=curvature)
+      assert sol[0,i,0] == pytest.approx(sol[1,i,0], abs=curvature)
 
   def test_straight(self):
     sol = run_mpc()
@@ -74,7 +74,7 @@ class TestLateralMpc(unittest.TestCase):
     y_init = 1.
     sol = run_mpc(y_init=y_init)
     for y in list(sol[:,1]):
-      self.assertGreaterEqual(y_init, abs(y))
+      assert y_init >= abs(y)
 
   def test_switch_convergence(self):
     lat_mpc = LateralMpc()
@@ -83,7 +83,3 @@ class TestLateralMpc(unittest.TestCase):
     sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0)
     left_psi_deg = np.degrees(sol[:,2])
     np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/tests/test_leads.py

@@ -1,13 +1,11 @@
 #!/usr/bin/env python3
-import unittest
-
 import cereal.messaging as messaging
 
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
-class TestLeads(unittest.TestCase):
+class TestLeads:
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error
     # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
@@ -29,8 +27,4 @@ class TestLeads(unittest.TestCase):
     states = [m for m in out if m.which() == "radarState"]
     failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
 
-    self.assertTrue(len(states) == 0 or all(failures))
+    assert len(states) == 0 or all(failures)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/controls/tests/test_state_machine.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import unittest
 
 from cereal import car, log
 from openpilot.common.realtime import DT_CTRL
@@ -28,9 +27,9 @@ def make_event(event_types):
   return 0
 
 
-class TestStateMachine(unittest.TestCase):
+class TestStateMachine:
 
-  def setUp(self):
+  def setup_method(self):
     CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
     CP = CarInterface.get_non_essential_params(MOCK.MOCK)
     CI = CarInterface(CP, CarController, CarState)
@@ -46,7 +45,7 @@ class TestStateMachine(unittest.TestCase):
         self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
         self.controlsd.state = state
         self.controlsd.state_transition(self.CS)
-        self.assertEqual(State.disabled, self.controlsd.state)
+        assert State.disabled == self.controlsd.state
         self.controlsd.events.clear()
 
   def test_user_disable(self):
@@ -55,7 +54,7 @@ class TestStateMachine(unittest.TestCase):
         self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
         self.controlsd.state = state
         self.controlsd.state_transition(self.CS)
-        self.assertEqual(State.disabled, self.controlsd.state)
+        assert State.disabled == self.controlsd.state
         self.controlsd.events.clear()
 
   def test_soft_disable(self):
@@ -66,7 +65,7 @@ class TestStateMachine(unittest.TestCase):
         self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
         self.controlsd.state = state
         self.controlsd.state_transition(self.CS)
-        self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
+        assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling
         self.controlsd.events.clear()
 
   def test_soft_disable_timer(self):
@@ -74,17 +73,17 @@ class TestStateMachine(unittest.TestCase):
     self.controlsd.events.add(make_event([ET.SOFT_DISABLE]))
     self.controlsd.state_transition(self.CS)
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
-      self.assertEqual(self.controlsd.state, State.softDisabling)
+      assert self.controlsd.state == State.softDisabling
       self.controlsd.state_transition(self.CS)
 
-    self.assertEqual(self.controlsd.state, State.disabled)
+    assert self.controlsd.state == State.disabled
 
   def test_no_entry(self):
     # Make sure noEntry keeps us disabled
     for et in ENABLE_EVENT_TYPES:
       self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
       self.controlsd.state_transition(self.CS)
-      self.assertEqual(self.controlsd.state, State.disabled)
+      assert self.controlsd.state == State.disabled
       self.controlsd.events.clear()
 
   def test_no_entry_pre_enable(self):
@@ -92,7 +91,7 @@ class TestStateMachine(unittest.TestCase):
     self.controlsd.state = State.preEnabled
     self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
     self.controlsd.state_transition(self.CS)
-    self.assertEqual(self.controlsd.state, State.preEnabled)
+    assert self.controlsd.state == State.preEnabled
 
   def test_maintain_states(self):
     # Given current state's event type, we should maintain state
@@ -101,9 +100,5 @@ class TestStateMachine(unittest.TestCase):
         self.controlsd.state = state
         self.controlsd.events.add(make_event([et]))
         self.controlsd.state_transition(self.CS)
-        self.assertEqual(self.controlsd.state, state)
+        assert self.controlsd.state == state
         self.controlsd.events.clear()
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/locationd/test/test_calibrationd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import random
-import unittest
 
 import numpy as np
 
@@ -31,7 +30,7 @@ def process_messages(c, cam_odo_calib, cycles,
                         [0.0, 0.0, HEIGHT_INIT.item()],
                         [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std])
 
-class TestCalibrationd(unittest.TestCase):
+class TestCalibrationd:
 
   def test_read_saved_params(self):
     msg = messaging.new_message('liveCalibration')
@@ -43,13 +42,13 @@ class TestCalibrationd(unittest.TestCase):
 
     np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
     np.testing.assert_allclose(msg.liveCalibration.height, c.height)
-    self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
+    assert msg.liveCalibration.validBlocks == c.valid_blocks
 
 
   def test_calibration_basics(self):
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED)
-    self.assertEqual(c.valid_blocks, INPUTS_WANTED)
+    assert c.valid_blocks == INPUTS_WANTED
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
     c.reset()
@@ -59,7 +58,7 @@ class TestCalibrationd(unittest.TestCase):
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1)
-    self.assertEqual(c.valid_blocks, 0)
+    assert c.valid_blocks == 0
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
 
@@ -67,7 +66,7 @@ class TestCalibrationd(unittest.TestCase):
   def test_calibration_yaw_rate_reject(self):
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER)
-    self.assertEqual(c.valid_blocks, 0)
+    assert c.valid_blocks == 0
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
 
@@ -75,43 +74,40 @@ class TestCalibrationd(unittest.TestCase):
   def test_calibration_speed_std_reject(self):
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3)
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    assert c.valid_blocks == INPUTS_NEEDED
     np.testing.assert_allclose(c.rpy, np.zeros(3))
 
 
   def test_calibration_speed_std_height_reject(self):
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3)
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    assert c.valid_blocks == INPUTS_NEEDED
     np.testing.assert_allclose(c.rpy, np.zeros(3))
 
 
   def test_calibration_auto_reset(self):
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    assert c.valid_blocks == INPUTS_NEEDED
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3)
     process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10)
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED + 1)
+    assert c.valid_blocks == INPUTS_NEEDED + 1
-    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.calibrated)
+    assert c.cal_status == log.LiveCalibrationData.Status.calibrated
 
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    assert c.valid_blocks == INPUTS_NEEDED
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
     process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10)
-    self.assertEqual(c.valid_blocks, 1)
+    assert c.valid_blocks == 1
-    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
+    assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
     np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2)
 
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    assert c.valid_blocks == INPUTS_NEEDED
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
     process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10)
-    self.assertEqual(c.valid_blocks, 1)
+    assert c.valid_blocks == 1
-    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
+    assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2)
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/locationd/test/test_locationd.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
+import pytest
 import json
 import random
-import unittest
 import time
 import capnp
 
@@ -13,13 +13,11 @@ from openpilot.common.transformations.coordinates import ecef2geodetic
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 
-class TestLocationdProc(unittest.TestCase):
+class TestLocationdProc:
   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
               'accelerometer', 'gyroscope', 'magnetometer']
 
-  def setUp(self):
+  def setup_method(self):
-    random.seed(123489234)
-
     self.pm = messaging.PubMaster(self.LLD_MSGS)
 
     self.params = Params()
@@ -27,7 +25,7 @@ class TestLocationdProc(unittest.TestCase):
     managed_processes['locationd'].prepare()
     managed_processes['locationd'].start()
 
-  def tearDown(self):
+  def teardown_method(self):
     managed_processes['locationd'].stop()
 
   def get_msg(self, name, t):
@@ -65,6 +63,7 @@ class TestLocationdProc(unittest.TestCase):
     return msg
 
   def test_params_gps(self):
+    random.seed(123489234)
     self.params.remove('LastGPSPosition')
 
     self.x = -2710700 + (random.random() * 1e5)
@@ -86,10 +85,6 @@ class TestLocationdProc(unittest.TestCase):
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPosition'))
-    self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
+    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
-    self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
+    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
-    self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
+    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import pytest
-import unittest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -99,7 +98,7 @@ def run_scenarios(scenario, logs):
 
 @pytest.mark.xdist_group("test_locationd_scenarios")
 @pytest.mark.shared_download_cache
-class TestLocationdScenarios(unittest.TestCase):
+class TestLocationdScenarios:
   """
   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)
@@ -107,7 +106,7 @@ class TestLocationdScenarios(unittest.TestCase):
   """
 
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     cls.logs = migrate_all(LogReader(TEST_ROUTE))
 
   def test_base(self):
@@ -118,8 +117,8 @@ class TestLocationdScenarios(unittest.TestCase):
       - 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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
 
   def test_gps_off(self):
     """
@@ -130,9 +129,9 @@ class TestLocationdScenarios(unittest.TestCase):
       - 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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
+    assert np.all(replayed_data['gps_flag'] == 0.0)
 
   def test_gps_off_midway(self):
     """
@@ -143,9 +142,9 @@ class TestLocationdScenarios(unittest.TestCase):
       - 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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
+    assert np.diff(replayed_data['gps_flag'])[512] == -1.0
 
   def test_gps_on_midway(self):
     """
@@ -156,9 +155,9 @@ class TestLocationdScenarios(unittest.TestCase):
       - 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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))
-    self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
+    assert np.diff(replayed_data['gps_flag'])[505] == 1.0
 
   def test_gps_tunnel(self):
     """
@@ -169,10 +168,10 @@ class TestLocationdScenarios(unittest.TestCase):
       - 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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
+    assert np.diff(replayed_data['gps_flag'])[213] == -1.0
-    self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0)
+    assert np.diff(replayed_data['gps_flag'])[805] == 1.0
 
   def test_gyro_off(self):
     """
@@ -183,9 +182,9 @@ class TestLocationdScenarios(unittest.TestCase):
       - sensorsOK: False
     """
     _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs)
-    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    assert np.allclose(replayed_data['yaw_rate'], 0.0)
-    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    assert np.allclose(replayed_data['roll'], 0.0)
-    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+    assert np.all(replayed_data['sensors_flag'] == 0.0)
 
   def test_gyro_spikes(self):
     """
@@ -196,10 +195,10 @@ class TestLocationdScenarios(unittest.TestCase):
       - 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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-    self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
+    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0)
+    assert np.diff(replayed_data['inputs_flag'])[694] == 1.0
 
   def test_accel_off(self):
     """
@@ -210,9 +209,9 @@ class TestLocationdScenarios(unittest.TestCase):
       - sensorsOK: False
     """
     _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs)
-    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    assert np.allclose(replayed_data['yaw_rate'], 0.0)
-    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    assert np.allclose(replayed_data['roll'], 0.0)
-    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+    assert np.all(replayed_data['sensors_flag'] == 0.0)
 
   def test_accel_spikes(self):
     """
@@ -221,9 +220,5 @@ class TestLocationdScenarios(unittest.TestCase):
     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)))
+    assert 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)))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/manager/test/test_manager.py

@@ -3,7 +3,6 @@ import os
 import pytest
 import signal
 import time
-import unittest
 
 from parameterized import parameterized
 
@@ -21,15 +20,15 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
 @pytest.mark.tici
-class TestManager(unittest.TestCase):
+class TestManager:
-  def setUp(self):
+  def setup_method(self):
     HARDWARE.set_power_save(False)
 
     # ensure clean CarParams
     params = Params()
     params.clear_all()
 
-  def tearDown(self):
+  def teardown_method(self):
     manager.manager_cleanup()
 
   def test_manager_prepare(self):
@@ -38,7 +37,7 @@ class TestManager(unittest.TestCase):
 
   def test_blacklisted_procs(self):
     # TODO: ensure there are blacklisted procs until we have a dedicated test
-    self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run")
+    assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
 
   @parameterized.expand([(i,) for i in range(10)])
   def test_startup_time(self, index):
@@ -48,8 +47,8 @@ class TestManager(unittest.TestCase):
     t = time.monotonic() - start
     assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
 
-  @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
+  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
-  def test_clean_exit(self):
+  def test_clean_exit(self, subtests):
     """
       Ensure all processes exit cleanly when stopped.
     """
@@ -62,21 +61,17 @@ class TestManager(unittest.TestCase):
     time.sleep(10)
 
     for p in procs:
-      with self.subTest(proc=p.name):
+      with subtests.test(proc=p.name):
         state = p.get_process_state_msg()
-        self.assertTrue(state.running, f"{p.name} not running")
+        assert state.running, f"{p.name} not running"
         exit_code = p.stop(retry=False)
 
-        self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
+        assert p.name not in BLACKLIST_PROCS, f"{p.name} was started"
 
-        self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
+        assert exit_code is not None, f"{p.name} failed to exit"
 
         # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
         exit_codes = [0, 1]
         if p.sigkill:
           exit_codes = [-signal.SIGKILL]
-        self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")
+        assert exit_code in exit_codes, f"{p.name} died with {exit_code}"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/modeld/models/dmonitoring_model.current

@@ -1,2 +1,2 @@
-60abed33-9f25-4e34-9937-aaf918d41dfc
+5ec97a39-0095-4cea-adfa-6d72b1966cc1
-50887963963a3022e85ac0c94b0801aef955a608
+26cac7a9757a27c783a365403040a1bd27ccdaea

selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37
+oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683
-size 16132779
+size 16132780

selfdrive/modeld/models/dmonitoring_model_q.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b
+oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46
-size 4488413
+size 4488449

selfdrive/modeld/tests/test_modeld.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import unittest
 import numpy as np
 import random
 
@@ -16,9 +15,9 @@ IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
 
 
-class TestModeld(unittest.TestCase):
+class TestModeld:
 
-  def setUp(self):
+  def setup_method(self):
     self.vipc_server = VisionIpcServer("camerad")
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
@@ -32,7 +31,7 @@ class TestModeld(unittest.TestCase):
     managed_processes['modeld'].start()
     self.pm.wait_for_readers_to_update("roadCameraState", 10)
 
-  def tearDown(self):
+  def teardown_method(self):
     managed_processes['modeld'].stop()
     del self.vipc_server
 
@@ -65,15 +64,15 @@ class TestModeld(unittest.TestCase):
       self._wait()
 
       mdl = self.sm['modelV2']
-      self.assertEqual(mdl.frameId, n)
+      assert mdl.frameId == n
-      self.assertEqual(mdl.frameIdExtra, n)
+      assert mdl.frameIdExtra == n
-      self.assertEqual(mdl.timestampEof, cs.timestampEof)
+      assert mdl.timestampEof == cs.timestampEof
-      self.assertEqual(mdl.frameAge, 0)
+      assert mdl.frameAge == 0
-      self.assertEqual(mdl.frameDropPerc, 0)
+      assert mdl.frameDropPerc == 0
 
       odo = self.sm['cameraOdometry']
-      self.assertEqual(odo.frameId, n)
+      assert odo.frameId == n
-      self.assertEqual(odo.timestampEof, cs.timestampEof)
+      assert odo.timestampEof == cs.timestampEof
 
   def test_dropped_frames(self):
     """
@@ -95,13 +94,9 @@ class TestModeld(unittest.TestCase):
 
       mdl = self.sm['modelV2']
       odo = self.sm['cameraOdometry']
-      self.assertEqual(mdl.frameId, frame_id)
+      assert mdl.frameId == frame_id
-      self.assertEqual(mdl.frameIdExtra, frame_id)
+      assert mdl.frameIdExtra == frame_id
-      self.assertEqual(odo.frameId, frame_id)
+      assert odo.frameId == frame_id
       if n != frame_id:
-        self.assertFalse(self.sm.updated['modelV2'])
+        assert not self.sm.updated['modelV2']
-        self.assertFalse(self.sm.updated['cameraOdometry'])
+        assert not self.sm.updated['cameraOdometry']
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/monitoring/dmonitoringd.py

@@ -19,7 +19,6 @@ def dmonitoringd_thread():
 
   driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
-  v_cruise_last = 0
   driver_engaged = False
 
   # 20Hz <- dmonitoringmodeld
@@ -30,12 +29,8 @@ def dmonitoringd_thread():
 
     # Get interaction
     if sm.updated['carState']:
-      v_cruise = sm['carState'].cruiseState.speed
+      driver_engaged = sm['carState'].steeringPressed or \
-      driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
+                       sm['carState'].gasPressed
-                        v_cruise != v_cruise_last or \
-                        sm['carState'].steeringPressed or \
-                        sm['carState'].gasPressed
-      v_cruise_last = v_cruise
 
     if sm.updated['modelV2']:
       driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)

selfdrive/monitoring/driver_monitor.py

@@ -31,8 +31,8 @@ class DRIVER_MONITOR_SETTINGS():
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.241
+    self._EE_THRESH11 = 0.25
-    self._EE_THRESH12 = 4.7
+    self._EE_THRESH12 = 7.5
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01

selfdrive/monitoring/test_monitoring.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import unittest
 import numpy as np
 
 from cereal import car, log
@@ -53,7 +52,7 @@ always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
 always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 
 # TODO: this only tests DriverStatus
-class TestMonitoring(unittest.TestCase):
+class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, standstill):
     DS = DriverStatus()
     events = []
@@ -69,7 +68,7 @@ class TestMonitoring(unittest.TestCase):
     return events, DS
 
   def _assert_no_events(self, events):
-    self.assertTrue(all(not len(e) for e in events))
+    assert all(not len(e) for e in events)
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
@@ -79,27 +78,27 @@ class TestMonitoring(unittest.TestCase):
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
     events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
+    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
+    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverDistracted)
+                    EventName.preDriverDistracted
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
+    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
+                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
+    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted)
+                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
-    self.assertIs(type(d_status.awareness), float)
+    assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
     events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
+    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
+    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverUnresponsive)
+                      EventName.preDriverUnresponsive
-    self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
+    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
+                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
+    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)
+                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -111,12 +110,12 @@ class TestMonitoring(unittest.TestCase):
     interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
     events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]), 0)
+    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0)
+    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0)
+    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
   #                          driver dodges, and then touches wheel to no avail, disengages and reengages
@@ -135,10 +134,10 @@ class TestMonitoring(unittest.TestCase):
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
+    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0], EventName.driverDistracted)
+    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
-    self.assertTrue(len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0)
+    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearance should not
@@ -150,15 +149,15 @@ class TestMonitoring(unittest.TestCase):
                                                                                              [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
+    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0)
+    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
     if _visible_time == 0.5:
-      self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive)
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
     elif _visible_time == 10:
-      self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0)
+      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert
@@ -171,18 +170,18 @@ class TestMonitoring(unittest.TestCase):
     interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
+    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0], EventName.driverUnresponsive)
+    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0], EventName.driverUnresponsive)
+    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0], EventName.driverUnresponsive)
+    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0)
+    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
 
   # disengaged, always distracted driver
   #  - dm should stay quiet when not engaged
   def test_pure_dashcam_user(self):
     events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
-    self.assertTrue(sum(len(event) for event in events) == 0)
+    assert sum(len(event) for event in events) == 0
 
   # engaged, car stops at traffic light, down to orange, no action, then car starts moving
   #  - should only reach green when stopped, but continues counting down on launch
@@ -191,10 +190,10 @@ class TestMonitoring(unittest.TestCase):
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
+    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
-                                                                                                                    EventName.preDriverDistracted)
+                                                                                                                    EventName.preDriverDistracted
-    self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
+    assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
@@ -202,13 +201,10 @@ class TestMonitoring(unittest.TestCase):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    self.assertTrue(EventName.preDriverUnresponsive in
+    assert EventName.preDriverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    self.assertTrue(EventName.promptDriverUnresponsive in
+    assert EventName.promptDriverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    self.assertTrue(EventName.driverUnresponsive in
+    assert EventName.driverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/navd/tests/test_map_renderer.py

@@ -3,7 +3,6 @@ import time
 import numpy as np
 import os
 import pytest
-import unittest
 import requests
 import threading
 import http.server
@@ -66,11 +65,11 @@ class MapBoxInternetDisabledServer(threading.Thread):
 
 
 @pytest.mark.skip(reason="not used")
-class TestMapRenderer(unittest.TestCase):
+class TestMapRenderer:
   server: MapBoxInternetDisabledServer
 
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     assert "MAPBOX_TOKEN" in os.environ
     cls.original_token = os.environ["MAPBOX_TOKEN"]
     cls.server = MapBoxInternetDisabledServer()
@@ -78,10 +77,10 @@ class TestMapRenderer(unittest.TestCase):
     time.sleep(0.5) # wait for server to startup
 
   @classmethod
-  def tearDownClass(cls) -> None:
+  def teardown_class(cls) -> None:
     cls.server.stop()
 
-  def setUp(self):
+  def setup_method(self):
     self.server.enable_internet()
     os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
 
@@ -203,15 +202,12 @@ class TestMapRenderer(unittest.TestCase):
 
     def assert_stat(stat, nominal, tol=0.3):
       tol = (nominal / (1+tol)), (nominal * (1+tol))
-      self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
+      assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}"
 
     assert_stat(_mean,   0.030)
     assert_stat(_median, 0.027)
     assert_stat(_stddev, 0.0078)
 
-    self.assertLess(_max, 0.065)
+    assert _max < 0.065
-    self.assertGreater(_min, 0.015)
+    assert _min > 0.015
 
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/navd/tests/test_navd.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import json
 import random
-import unittest
 import numpy as np
 
 from parameterized import parameterized
@@ -11,12 +10,12 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 
-class TestNavd(unittest.TestCase):
+class TestNavd:
-  def setUp(self):
+  def setup_method(self):
     self.params = Params()
     self.sm = messaging.SubMaster(['navRoute', 'navInstruction'])
 
-  def tearDown(self):
+  def teardown_method(self):
     managed_processes['navd'].stop()
 
   def _check_route(self, start, end, check_coords=True):
@@ -57,7 +56,3 @@ class TestNavd(unittest.TestCase):
     start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
     end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
     self._check_route(start, end, check_coords=False)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/test/helpers.py

@@ -3,6 +3,7 @@ import http.server
 import os
 import threading
 import time
+import pytest
 
 from functools import wraps
 
@@ -32,15 +33,15 @@ def phone_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):
     if PC:
-      self.skipTest("This test is not meant to run on PC")
+      pytest.skip("This test is not meant to run on PC")
-    f(self, *args, **kwargs)
+    return f(self, *args, **kwargs)
   return wrap
 
 def release_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):
     if "RELEASE" not in os.environ:
-      self.skipTest("This test is only for release branches")
+      pytest.skip("This test is only for release branches")
     f(self, *args, **kwargs)
   return wrap
 

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import itertools
-import unittest
 from parameterized import parameterized_class
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
@@ -144,17 +143,13 @@ def create_maneuvers(kwargs):
 
 
 @parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2))
-class LongitudinalControl(unittest.TestCase):
+class TestLongitudinalControl:
   e2e: bool
   force_decel: bool
 
-  def test_maneuver(self):
+  def test_maneuver(self, subtests):
     for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}):
-      with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):
+      with subtests.test(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):
         print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
         valid, _ = maneuver.evaluate()
-        self.assertTrue(valid)
+        assert valid
-
-
-if __name__ == "__main__":
-  unittest.main(failfast=True)

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-69a3b169ebc478285dad5eea87658ed2cb8fee13
+73eb11111fb6407fa307c3f2bdd3331f2514c707

selfdrive/test/process_replay/process_replay.py

@@ -466,7 +466,7 @@ CONFIGS = [
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
-    subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"],
+    subs=["controlsState", "carState", "carControl", "carOutput", "sendcan", "onroadEvents", "carParams"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=controlsd_fingerprint_callback,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-685a2bb9aacdd790e26d14aa49d3792c3ed65125
+cc4e23ca0fceb300a3048c187ae9bc793794c095

selfdrive/test/process_replay/test_fuzzy.py

@@ -3,7 +3,6 @@ import copy
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
 from parameterized import parameterized
-import unittest
 
 from cereal import log
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
@@ -17,7 +16,7 @@ NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd'
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
-class TestFuzzProcesses(unittest.TestCase):
+class TestFuzzProcesses:
 
   # TODO: make this faster and increase examples
   @parameterized.expand(TEST_CASES)
@@ -28,6 +27,3 @@ class TestFuzzProcesses(unittest.TestCase):
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
     cfg.timeout = 5
     pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/test/process_replay/test_processes.py

@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"),
+  ("BODY", "regen02ECB79BACC|2024-05-18--04-29-29--0"),
-  ("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"),
+  ("HYUNDAI", "regen845DC1916E6|2024-05-18--04-30-52--0"),
-  ("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"),
+  ("HYUNDAI2", "regenBAE0915FE22|2024-05-18--04-33-11--0"),
-  ("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"),
+  ("TOYOTA", "regen1108D19FC2E|2024-05-18--04-34-34--0"),
-  ("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"),
+  ("TOYOTA2", "regen846521F39C7|2024-05-18--04-35-58--0"),
-  ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
+  ("TOYOTA3", "regen788C3623D11|2024-05-18--04-38-21--0"),
-  ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
+  ("HONDA", "regenDE43F170E99|2024-05-18--04-39-47--0"),
-  ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
+  ("HONDA2", "regen1EE0FA383C3|2024-05-18--04-41-12--0"),
-  ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
+  ("CHRYSLER", "regen9C5A30F471C|2024-05-18--04-42-36--0"),
-  ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
+  ("RAM", "regenCCA313D117D|2024-05-18--04-44-53--0"),
-  ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),
+  ("SUBARU", "regenA41511F882A|2024-05-18--04-47-14--0"),
-  ("GM", "regenF6393D64745|2023-10-30--23-17-18--0"),
+  ("GM", "regen9D7B9CE4A66|2024-05-18--04-48-36--0"),
-  ("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"),
+  ("GM2", "regen07CECA52D41|2024-05-18--04-50-55--0"),
-  ("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"),
+  ("NISSAN", "regen2D6B856D0AE|2024-05-18--04-52-17--0"),
-  ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
+  ("VOLKSWAGEN", "regen2D3AC6A6F05|2024-05-18--04-53-41--0"),
-  ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
+  ("MAZDA", "regen0D5A777DD16|2024-05-18--04-56-02--0"),
-  ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
+  ("FORD", "regen235D0937965|2024-05-18--04-58-16--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -107,9 +107,13 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_openpilot_enabled(log_msgs):
-      # FIXME: these segments should work, but the replay enabling logic is too brittle
+      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
-      if segment not in ("regen6CA24BC3035|2023-10-30--23-14-28--0", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"):
+
-        return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
+  if cfg.proc_name != 'ubloxd' or segment != 'regenBAE0915FE22|2024-05-18--04-33-11--0':
+    seen_msgs = {m.which() for m in log_msgs}
+    expected_msgs = set(cfg.subs)
+    if seen_msgs != expected_msgs:
+      return f"Expected messages: {expected_msgs}, but got: {seen_msgs}", log_msgs
 
   try:
     return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs

selfdrive/test/process_replay/test_regen.py

@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 
-import unittest
-
 from parameterized import parameterized
 
 from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
@@ -30,7 +28,7 @@ def ci_setup_data_readers(route, sidx):
   return lr, frs
 
 
-class TestRegen(unittest.TestCase):
+class TestRegen:
   @parameterized.expand(TESTED_SEGMENTS)
   def test_engaged(self, case_name, segment):
     route, sidx = segment.rsplit("--", 1)
@@ -38,8 +36,4 @@ class TestRegen(unittest.TestCase):
     output_logs = regen_segment(lr, frs, disable_tqdm=True)
 
     engaged = check_openpilot_enabled(output_logs)
-    self.assertTrue(engaged, f"openpilot not engaged in {case_name}")
+    assert engaged, f"openpilot not engaged in {case_name}"
-
-
-if __name__=='__main__':
-  unittest.main()

selfdrive/test/test_onroad.py

@@ -10,7 +10,6 @@ import shutil
 import subprocess
 import time
 import numpy as np
-import unittest
 from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
@@ -102,10 +101,10 @@ def cputime_total(ct):
 
 
 @pytest.mark.tici
-class TestOnroad(unittest.TestCase):
+class TestOnroad:
 
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     if "DEBUG" in os.environ:
       segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
@@ -181,7 +180,7 @@ class TestOnroad(unittest.TestCase):
       msgs[m.which()].append(m)
     return msgs
 
-  def test_service_frequencies(self):
+  def test_service_frequencies(self, subtests):
     for s, msgs in self.service_msgs.items():
       if s in ('initData', 'sentinel'):
         continue
@@ -190,18 +189,18 @@ class TestOnroad(unittest.TestCase):
       if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
         continue
 
-      with self.subTest(service=s):
+      with subtests.test(service=s):
         assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
 
   def test_cloudlog_size(self):
     msgs = [m for m in self.lr if m.which() == 'logMessage']
 
     total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
-    self.assertLess(total_size, 3.5e5)
+    assert total_size < 3.5e5
 
     cnt = Counter(json.loads(m.logMessage)['filename'] for m in msgs)
     big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
-    self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
+    assert len(big_logs) == 0, f"Log spam: {big_logs}"
 
   def test_log_sizes(self):
     for f, sz in self.log_sizes.items():
@@ -230,15 +229,15 @@ class TestOnroad(unittest.TestCase):
     result += "------------------------------------------------\n"
     print(result)
 
-    self.assertLess(max(ts), 250.)
+    assert max(ts) < 250.
-    self.assertLess(np.mean(ts), 10.)
+    assert np.mean(ts) < 10.
     #self.assertLess(np.std(ts), 5.)
 
     # some slow frames are expected since camerad/modeld can preempt ui
     veryslow = [x for x in ts if x > 40.]
     assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"
 
-  def test_cpu_usage(self):
+  def test_cpu_usage(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"
     result += "------------------ CPU Usage -------------------\n"
@@ -286,12 +285,12 @@ class TestOnroad(unittest.TestCase):
     # Ensure there's no missing procs
     all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
     for p in all_procs:
-      with self.subTest(proc=p):
+      with subtests.test(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
 
     # total CPU check
     procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
-    with self.subTest(name="total CPU"):
+    with subtests.test(name="total CPU"):
       assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
     result +=  "------------------------------------------------\n"
     result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
@@ -299,7 +298,7 @@ class TestOnroad(unittest.TestCase):
 
     print(result)
 
-    self.assertTrue(cpu_ok)
+    assert cpu_ok
 
   def test_memory_usage(self):
     mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
@@ -307,10 +306,10 @@ class TestOnroad(unittest.TestCase):
 
     # check for big leaks. note that memory usage is
     # expected to go up while the MSGQ buffers fill up
-    self.assertLessEqual(max(mems) - min(mems), 3.0)
+    assert max(mems) - min(mems) <= 3.0
 
   def test_gpu_usage(self):
-    self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"})
+    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
 
   def test_camera_processing_time(self):
     result = "\n"
@@ -319,14 +318,14 @@ class TestOnroad(unittest.TestCase):
     result += "------------------------------------------------\n"
 
     ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
-    self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}")
+    assert min(ts) < 0.025, f"high execution time: {min(ts)}"
     result += f"execution time: min  {min(ts):.5f}s\n"
     result += f"execution time: max  {max(ts):.5f}s\n"
     result += f"execution time: mean {np.mean(ts):.5f}s\n"
     result += "------------------------------------------------\n"
     print(result)
 
-  @unittest.skip("TODO: enable once timings are fixed")
+  @pytest.mark.skip("TODO: enable once timings are fixed")
   def test_camera_frame_timings(self):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -336,7 +335,7 @@ class TestOnroad(unittest.TestCase):
       ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
       d_ms = np.diff(ts) / 1e6
       d50 = np.abs(d_ms-50)
-      self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}")
+      assert max(d50) < 1.0, f"high sof delta vs 50ms: {max(d50)}"
       result += f"{name} sof delta vs 50ms: min  {min(d50):.5f}s\n"
       result += f"{name} sof delta vs 50ms: max  {max(d50):.5f}s\n"
       result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n"
@@ -352,8 +351,8 @@ class TestOnroad(unittest.TestCase):
     cfgs = [("longitudinalPlan", 0.05, 0.05),]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
-      self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
+      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
+      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
@@ -372,8 +371,8 @@ class TestOnroad(unittest.TestCase):
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
-      self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
+      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
+      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
@@ -409,7 +408,7 @@ class TestOnroad(unittest.TestCase):
       result += f"{''.ljust(40)}  {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
     result += "="*67
     print(result)
-    self.assertTrue(passed)
+    assert passed
 
   @release_only
   def test_startup(self):
@@ -420,7 +419,7 @@ class TestOnroad(unittest.TestCase):
         startup_alert = msg.controlsState.alertText1
         break
     expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
-    self.assertEqual(startup_alert, expected, "wrong startup alert")
+    assert startup_alert == expected, "wrong startup alert"
 
   def test_engagable(self):
     no_entries = Counter()
@@ -432,7 +431,3 @@ class TestOnroad(unittest.TestCase):
     eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
     assert all(eng), \
            f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/test/test_time_to_onroad.py

@@ -4,11 +4,14 @@ import pytest
 import time
 import subprocess
 
+from cereal import car
 import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
+EventName = car.CarEvent.EventName
+
 
 @pytest.mark.tici
 def test_time_to_onroad():
@@ -18,7 +21,7 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan'])
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents'])
   try:
     # wait for onroad. timeout assumes panda is up to date
     with Timeout(10, "timed out waiting to go onroad"):
@@ -28,15 +31,14 @@ def test_time_to_onroad():
     # wait for engageability
     try:
       with Timeout(10, "timed out waiting for engageable"):
-        sendcan_frame = None
+        initialized = False
         while True:
           sm.update(100)
 
-          # sendcan is only sent once we're initialized
+          if sm.seen['onroadEvents'] and not any(EventName.controlsInitializing == e.name for e in sm['onroadEvents']):
-          if sm.seen['controlsState'] and sendcan_frame is None:
+            initialized = True
-            sendcan_frame = sm.frame
 
-          if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame:
+          if initialized:
             sm.update(100)
             assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
             break

selfdrive/test/test_updated.py

@@ -4,7 +4,6 @@ import os
 import pytest
 import time
 import tempfile
-import unittest
 import shutil
 import signal
 import subprocess
@@ -15,9 +14,9 @@ from openpilot.common.params import Params
 
 
 @pytest.mark.tici
-class TestUpdated(unittest.TestCase):
+class TestUpdated:
 
-  def setUp(self):
+  def setup_method(self):
     self.updated_proc = None
 
     self.tmp_dir = tempfile.TemporaryDirectory()
@@ -59,7 +58,7 @@ class TestUpdated(unittest.TestCase):
     self.params.clear_all()
     os.sync()
 
-  def tearDown(self):
+  def teardown_method(self):
     try:
       if self.updated_proc is not None:
         self.updated_proc.terminate()
@@ -167,7 +166,7 @@ class TestUpdated(unittest.TestCase):
     t = self._read_param("LastUpdateTime")
     last_update_time = datetime.datetime.fromisoformat(t)
     td = datetime.datetime.utcnow() - last_update_time
-    self.assertLess(td.total_seconds(), 10)
+    assert td.total_seconds() < 10
     self.params.remove("LastUpdateTime")
 
     # wait a bit for the rest of the params to be written
@@ -175,13 +174,13 @@ class TestUpdated(unittest.TestCase):
 
     # check params
     update = self._read_param("UpdateAvailable")
-    self.assertEqual(update == "1", update_available, f"UpdateAvailable: {repr(update)}")
+    assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}"
-    self.assertEqual(self._read_param("UpdateFailedCount"), "0")
+    assert self._read_param("UpdateFailedCount") == "0"
 
     # TODO: check that the finalized update actually matches remote
     # check the .overlay_init and .overlay_consistent flags
-    self.assertTrue(os.path.isfile(os.path.join(self.basedir, ".overlay_init")))
+    assert os.path.isfile(os.path.join(self.basedir, ".overlay_init"))
-    self.assertEqual(os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")), update_available)
+    assert os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")) == update_available
 
 
   # *** test cases ***
@@ -214,7 +213,7 @@ class TestUpdated(unittest.TestCase):
     self._check_update_state(True)
 
   # Let the updater run for 10 cycles, and write an update every cycle
-  @unittest.skip("need to make this faster")
+  @pytest.mark.skip("need to make this faster")
   def test_update_loop(self):
     self._start_updater()
 
@@ -243,12 +242,12 @@ class TestUpdated(unittest.TestCase):
     # run another cycle, should have a new mtime
     self._wait_for_update(clear_param=True)
     second_mtime = os.path.getmtime(overlay_init_fn)
-    self.assertTrue(first_mtime != second_mtime)
+    assert first_mtime != second_mtime
 
     # run another cycle, mtime should be same as last cycle
     self._wait_for_update(clear_param=True)
     new_mtime = os.path.getmtime(overlay_init_fn)
-    self.assertTrue(second_mtime == new_mtime)
+    assert second_mtime == new_mtime
 
   # Make sure updated exits if another instance is running
   def test_multiple_instances(self):
@@ -260,7 +259,7 @@ class TestUpdated(unittest.TestCase):
     # start another instance
     second_updated = self._get_updated_proc()
     ret_code = second_updated.wait(timeout=5)
-    self.assertTrue(ret_code is not None)
+    assert ret_code is not None
 
 
   # *** test cases with NEOS updates ***
@@ -277,10 +276,10 @@ class TestUpdated(unittest.TestCase):
     self._start_updater()
     self._wait_for_update(clear_param=True)
     self._check_update_state(False)
-    self.assertFalse(os.path.isdir(self.neosupdate_dir))
+    assert not os.path.isdir(self.neosupdate_dir)
 
   # Let the updater run with no update for a cycle, then write an update
-  @unittest.skip("TODO: only runs on device")
+  @pytest.mark.skip("TODO: only runs on device")
   def test_update_with_neos_update(self):
     # bump the NEOS version and commit it
     self._run([
@@ -295,8 +294,4 @@ class TestUpdated(unittest.TestCase):
     self._check_update_state(True)
 
     # TODO: more comprehensive check
-    self.assertTrue(os.path.isdir(self.neosupdate_dir))
+    assert os.path.isdir(self.neosupdate_dir)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/test/test_valgrind_replay.py

@@ -1,117 +0,0 @@
-#!/usr/bin/env python3
-import os
-import threading
-import time
-import unittest
-import subprocess
-import signal
-
-if "CI" in os.environ:
-  def tqdm(x):
-    return x
-else:
-  from tqdm import tqdm   # type: ignore
-
-import cereal.messaging as messaging
-from collections import namedtuple
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.common.basedir import BASEDIR
-
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response'])
-
-CONFIGS = [
-  ProcessConfig(
-    proc_name="ubloxd",
-    pub_sub={
-      "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
-    },
-    ignore=[],
-    command="./ubloxd",
-    path="system/ubloxd",
-    segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
-    wait_for_response=True
-  ),
-]
-
-
-class TestValgrind(unittest.TestCase):
-  def extract_leak_sizes(self, log):
-    if "All heap blocks were freed -- no leaks are possible" in log:
-      return (0,0,0)
-
-    log = log.replace(",","")  # fixes casting to int issue with large leaks
-    err_lost1 = log.split("definitely lost: ")[1]
-    err_lost2 = log.split("indirectly lost: ")[1]
-    err_lost3 = log.split("possibly lost: ")[1]
-    definitely_lost = int(err_lost1.split(" ")[0])
-    indirectly_lost = int(err_lost2.split(" ")[0])
-    possibly_lost = int(err_lost3.split(" ")[0])
-    return (definitely_lost, indirectly_lost, possibly_lost)
-
-  def valgrindlauncher(self, arg, cwd):
-    os.chdir(os.path.join(BASEDIR, cwd))
-    # Run valgrind on a process
-    command = "valgrind --leak-check=full " + arg
-    p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid)
-
-    while not self.replay_done:
-      time.sleep(0.1)
-
-    # Kill valgrind and extract leak output
-    os.killpg(os.getpgid(p.pid), signal.SIGINT)
-    _, err = p.communicate()
-    error_msg = str(err, encoding='utf-8')
-    with open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "a") as f:
-      f.write(error_msg)
-      f.write(5 * "\n")
-    definitely_lost, indirectly_lost, possibly_lost = self.extract_leak_sizes(error_msg)
-    if max(definitely_lost, indirectly_lost, possibly_lost) > 0:
-      self.leak = True
-      print("LEAKS from", arg, "\nDefinitely lost:", definitely_lost, "\nIndirectly lost", indirectly_lost, "\nPossibly lost", possibly_lost)
-    else:
-      self.leak = False
-
-  def replay_process(self, config, logreader):
-    pub_sockets = list(config.pub_sub.keys())  # We dump data from logs here
-    sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub]  # We get responses here
-    pm = messaging.PubMaster(pub_sockets)
-    sm = messaging.SubMaster(sub_sockets)
-
-    print("Sorting logs")
-    all_msgs = sorted(logreader, key=lambda msg: msg.logMonoTime)
-    pub_msgs = [msg for msg in all_msgs if msg.which() in list(config.pub_sub.keys())]
-
-    thread = threading.Thread(target=self.valgrindlauncher, args=(config.command, config.path))
-    thread.daemon = True
-    thread.start()
-
-    while not all(pm.all_readers_updated(s) for s in config.pub_sub.keys()):
-      time.sleep(0)
-
-    for msg in tqdm(pub_msgs):
-      pm.send(msg.which(), msg.as_builder())
-      if config.wait_for_response:
-        sm.update(100)
-
-    self.replay_done = True
-
-  def test_config(self):
-    open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "w").close()
-
-    for cfg in CONFIGS:
-      self.leak = None
-      self.replay_done = False
-
-      r, n = cfg.segment.rsplit("--", 1)
-      lr = LogReader(get_url(r, n))
-      self.replay_process(cfg, lr)
-
-      while self.leak is None:
-        time.sleep(0.1)  # Wait for the valgrind to finish
-
-      self.assertFalse(self.leak)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/thermald/tests/test_fan_controller.py

@@ -1,17 +1,15 @@
 #!/usr/bin/env python3
-import unittest
+import pytest
-from unittest.mock import Mock, patch
-from parameterized import parameterized
 
 from openpilot.selfdrive.thermald.fan_controller import TiciFanController
 
-ALL_CONTROLLERS = [(TiciFanController,)]
+ALL_CONTROLLERS = [TiciFanController]
 
-def patched_controller(controller_class):
+def patched_controller(mocker, controller_class):
-  with patch("os.system", new=Mock()):
+  mocker.patch("os.system", new=mocker.Mock())
-    return controller_class()
+  return controller_class()
 
-class TestFanController(unittest.TestCase):
+class TestFanController:
   def wind_up(self, controller, ignition=True):
     for _ in range(1000):
       controller.update(100, ignition)
@@ -20,37 +18,34 @@ class TestFanController(unittest.TestCase):
     for _ in range(1000):
       controller.update(10, ignition)
 
-  @parameterized.expand(ALL_CONTROLLERS)
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_hot_onroad(self, controller_class):
+  def test_hot_onroad(self, mocker, controller_class):
-    controller = patched_controller(controller_class)
+    controller = patched_controller(mocker, controller_class)
     self.wind_up(controller)
-    self.assertGreaterEqual(controller.update(100, True), 70)
+    assert controller.update(100, True) >= 70
 
-  @parameterized.expand(ALL_CONTROLLERS)
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_offroad_limits(self, controller_class):
+  def test_offroad_limits(self, mocker, controller_class):
-    controller = patched_controller(controller_class)
+    controller = patched_controller(mocker, controller_class)
     self.wind_up(controller)
-    self.assertLessEqual(controller.update(100, False), 30)
+    assert controller.update(100, False) <= 30
 
-  @parameterized.expand(ALL_CONTROLLERS)
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_no_fan_wear(self, controller_class):
+  def test_no_fan_wear(self, mocker, controller_class):
-    controller = patched_controller(controller_class)
+    controller = patched_controller(mocker, controller_class)
     self.wind_down(controller)
-    self.assertEqual(controller.update(10, False), 0)
+    assert controller.update(10, False) == 0
 
-  @parameterized.expand(ALL_CONTROLLERS)
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_limited(self, controller_class):
+  def test_limited(self, mocker, controller_class):
-    controller = patched_controller(controller_class)
+    controller = patched_controller(mocker, controller_class)
     self.wind_up(controller, True)
-    self.assertEqual(controller.update(100, True), 100)
+    assert controller.update(100, True) == 100
 
-  @parameterized.expand(ALL_CONTROLLERS)
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_windup_speed(self, controller_class):
+  def test_windup_speed(self, mocker, controller_class):
-    controller = patched_controller(controller_class)
+    controller = patched_controller(mocker, controller_class)
     self.wind_down(controller, True)
     for _ in range(10):
       controller.update(90, True)
-    self.assertGreaterEqual(controller.update(90, True), 60)
+    assert controller.update(90, True) >= 60
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/thermald/tests/test_power_monitoring.py

@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
-import unittest
+import pytest
-from unittest.mock import patch
 
 from openpilot.common.params import Params
 from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
-
 # Create fake time
 ssb = 0.
 def mock_time_monotonic():
@@ -18,163 +16,169 @@ TEST_DURATION_S = 50
 GOOD_VOLTAGE = 12 * 1e3
 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
 
-def pm_patch(name, value, constant=False):
+def pm_patch(mocker, name, value, constant=False):
   if constant:
-    return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
+    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
-  return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)
+  else:
+    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)
+
+
+@pytest.fixture(autouse=True)
+def mock_time(mocker):
+  mocker.patch("time.monotonic", mock_time_monotonic)
 
 
-@patch("time.monotonic", new=mock_time_monotonic)
+class TestPowerMonitoring:
-class TestPowerMonitoring(unittest.TestCase):
+  def setup_method(self):
-  def setUp(self):
     self.params = Params()
 
   # Test to see that it doesn't do anything when pandaState is None
-  def test_pandaState_present(self):
+  def test_panda_state_present(self):
     pm = PowerMonitoring()
     for _ in range(10):
       pm.calculate(None, None)
-    self.assertEqual(pm.get_power_used(), 0)
+    assert pm.get_power_used() == 0
-    self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10))
+    assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
 
   # Test to see that it doesn't integrate offroad when ignition is True
   def test_offroad_ignition(self):
     pm = PowerMonitoring()
     for _ in range(10):
       pm.calculate(GOOD_VOLTAGE, True)
-    self.assertEqual(pm.get_power_used(), 0)
+    assert pm.get_power_used() == 0
 
   # Test to see that it integrates with discharging battery
-  def test_offroad_integration_discharging(self):
+  def test_offroad_integration_discharging(self, mocker):
     POWER_DRAW = 4
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      for _ in range(TEST_DURATION_S + 1):
+    for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(GOOD_VOLTAGE, False)
+      pm.calculate(GOOD_VOLTAGE, False)
-      expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
+    expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
-      self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10)
+    assert abs(pm.get_power_used() - expected_power_usage) < 10
 
   # Test to check positive integration of car_battery_capacity
-  def test_car_battery_integration_onroad(self):
+  def test_car_battery_integration_onroad(self, mocker):
     POWER_DRAW = 4
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = 0
+    pm.car_battery_capacity_uWh = 0
-      for _ in range(TEST_DURATION_S + 1):
+    for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(GOOD_VOLTAGE, True)
+      pm.calculate(GOOD_VOLTAGE, True)
-      expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
+    expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
-      self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
+    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
 
   # Test to check positive integration upper limit
-  def test_car_battery_integration_upper_limit(self):
+  def test_car_battery_integration_upper_limit(self, mocker):
     POWER_DRAW = 4
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
-      for _ in range(TEST_DURATION_S + 1):
+    for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(GOOD_VOLTAGE, True)
+      pm.calculate(GOOD_VOLTAGE, True)
-      estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
+    estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
-      self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
+    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
 
   # Test to check negative integration of car_battery_capacity
-  def test_car_battery_integration_offroad(self):
+  def test_car_battery_integration_offroad(self, mocker):
     POWER_DRAW = 4
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      for _ in range(TEST_DURATION_S + 1):
+    for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(GOOD_VOLTAGE, False)
+      pm.calculate(GOOD_VOLTAGE, False)
-      expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
+    expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
-      self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
+    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
 
   # Test to check negative integration lower limit
-  def test_car_battery_integration_lower_limit(self):
+  def test_car_battery_integration_lower_limit(self, mocker):
     POWER_DRAW = 4
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = 1000
+    pm.car_battery_capacity_uWh = 1000
-      for _ in range(TEST_DURATION_S + 1):
+    for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(GOOD_VOLTAGE, False)
+      pm.calculate(GOOD_VOLTAGE, False)
-      estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
+    estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
-      self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
+    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
 
   # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
-  def test_max_time_offroad(self):
+  def test_max_time_offroad(self, mocker):
     MOCKED_MAX_OFFROAD_TIME = 3600
     POWER_DRAW = 0 # To stop shutting down for other reasons
-    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True)
-      pm = PowerMonitoring()
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    pm = PowerMonitoring()
-      start_time = ssb
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      ignition = False
+    start_time = ssb
-      while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
+    ignition = False
-        pm.calculate(GOOD_VOLTAGE, ignition)
+    while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
-        if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
+      pm.calculate(GOOD_VOLTAGE, ignition)
-          self.assertFalse(pm.should_shutdown(ignition, True, start_time, False))
+      if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
-      self.assertTrue(pm.should_shutdown(ignition, True, start_time, False))
+        assert not pm.should_shutdown(ignition, True, start_time, False)
-
+    assert pm.should_shutdown(ignition, True, start_time, False)
-  def test_car_voltage(self):
+
+  def test_car_voltage(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 350
     VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
-    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \
+    pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True)
-         pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      ignition = False
+    ignition = False
-      start_time = ssb
+    start_time = ssb
-      for i in range(TEST_TIME):
+    for i in range(TEST_TIME):
-        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
-        if i % 10 == 0:
+      if i % 10 == 0:
-          self.assertEqual(pm.should_shutdown(ignition, True, start_time, True),
+        assert pm.should_shutdown(ignition, True, start_time, True) == \
-                           (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and
+                          (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \
-                            (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and
+                          (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \
-                             (ssb - start_time) > DELAY_SHUTDOWN_TIME_S))
+                            (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)
-      self.assertTrue(pm.should_shutdown(ignition, True, start_time, True))
+    assert pm.should_shutdown(ignition, True, start_time, True)
 
   # Test to check policy of not stopping charging when DisablePowerDown is set
-  def test_disable_power_down(self):
+  def test_disable_power_down(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
     self.params.put_bool("DisablePowerDown", True)
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      ignition = False
+    ignition = False
-      for i in range(TEST_TIME):
+    for i in range(TEST_TIME):
-        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
-        if i % 10 == 0:
+      if i % 10 == 0:
-          self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
+        assert not pm.should_shutdown(ignition, True, ssb, False)
-      self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
+    assert not pm.should_shutdown(ignition, True, ssb, False)
 
   # Test to check policy of not stopping charging when ignition
-  def test_ignition(self):
+  def test_ignition(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      ignition = True
+    ignition = True
-      for i in range(TEST_TIME):
+    for i in range(TEST_TIME):
-        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
-        if i % 10 == 0:
+      if i % 10 == 0:
-          self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
+        assert not pm.should_shutdown(ignition, True, ssb, False)
-      self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
+    assert not pm.should_shutdown(ignition, True, ssb, False)
 
   # Test to check policy of not stopping charging when harness is not connected
-  def test_harness_connection(self):
+  def test_harness_connection(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
-      pm = PowerMonitoring()
+    pm = PowerMonitoring()
-      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
 
-      ignition = False
+    ignition = False
-      for i in range(TEST_TIME):
+    for i in range(TEST_TIME):
-        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
-        if i % 10 == 0:
+      if i % 10 == 0:
-          self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
+        assert not pm.should_shutdown(ignition, False, ssb, False)
-      self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
+    assert not pm.should_shutdown(ignition, False, ssb, False)
 
   def test_delay_shutdown_time(self):
     pm = PowerMonitoring()
@@ -186,15 +190,11 @@ class TestPowerMonitoring(unittest.TestCase):
     pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
 
     while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
-      self.assertFalse(pm.should_shutdown(ignition, in_car,
+      assert not pm.should_shutdown(ignition, in_car,
                                           offroad_timestamp,
-                                          started_seen),
+                                          started_seen), \
-                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
+                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
-    self.assertTrue(pm.should_shutdown(ignition, in_car,
+    assert pm.should_shutdown(ignition, in_car,
                                        offroad_timestamp,
-                                       started_seen),
+                                       started_seen), \
-                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
+                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -1,6 +1,7 @@
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 
 #include <QPainter>
+#include <QStackedLayout>
 
 #ifdef ENABLE_MAPS
 #include "selfdrive/ui/qt/maps/map_helpers.h"

selfdrive/ui/tests/test_soundd.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import unittest
 
 from cereal import car
 from cereal import messaging
@@ -11,7 +10,7 @@ import time
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 
-class TestSoundd(unittest.TestCase):
+class TestSoundd:
   def test_check_controls_timeout_alert(self):
     sm = SubMaster(['controlsState'])
     pm = PubMaster(['controlsState'])
@@ -26,16 +25,13 @@ class TestSoundd(unittest.TestCase):
 
       sm.update(0)
 
-      self.assertFalse(check_controls_timeout_alert(sm))
+      assert not check_controls_timeout_alert(sm)
 
     for _ in range(CONTROLS_TIMEOUT * 110):
       sm.update(0)
       time.sleep(0.01)
 
-    self.assertTrue(check_controls_timeout_alert(sm))
+    assert check_controls_timeout_alert(sm)
 
   # TODO: add test with micd for checking that soundd actually outputs sounds
 
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/ui/tests/test_translations.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
+import pytest
 import json
 import os
 import re
-import unittest
 import shutil
 import tempfile
 import xml.etree.ElementTree as ET
@@ -21,7 +21,7 @@ FORMAT_ARG = re.compile("%[0-9]+")
 
 
 @parameterized_class(("name", "file"), translation_files.items())
-class TestTranslations(unittest.TestCase):
+class TestTranslations:
   name: str
   file: str
 
@@ -32,8 +32,8 @@ class TestTranslations(unittest.TestCase):
       return f.read()
 
   def test_missing_translation_files(self):
-    self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")),
+    assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \
-                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py")
+                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
 
   def test_translations_updated(self):
     with tempfile.TemporaryDirectory() as tmpdir:
@@ -42,19 +42,19 @@ class TestTranslations(unittest.TestCase):
 
       cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
       new_translations = self._read_translation_file(tmpdir, self.file)
-      self.assertEqual(cur_translations, new_translations,
+      assert cur_translations == new_translations, \
-                       f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+                       f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files"
 
-  @unittest.skip("Only test unfinished translations before going to release")
+  @pytest.mark.skip("Only test unfinished translations before going to release")
   def test_unfinished_translations(self):
     cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    self.assertTrue(UNFINISHED_TRANSLATION_TAG not in cur_translations,
+    assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
+                    f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist"
 
   def test_vanished_translations(self):
     cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    self.assertTrue("<translation type=\"vanished\">" not in cur_translations,
+    assert "<translation type=\"vanished\">" not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
+                    f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them"
 
   def test_finished_translations(self):
     """
@@ -81,27 +81,27 @@ class TestTranslations(unittest.TestCase):
           numerusform = [t.text for t in translation.findall("numerusform")]
 
           for nf in numerusform:
-            self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}")
+            assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}"
-            self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.")
+            assert "%n" in nf, "Ensure numerus argument (%n) exists in translation."
-            self.assertIsNone(FORMAT_ARG.search(nf), f"Plural translations must use %n, not %1, %2, etc.: {numerusform}")
+            assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}"
 
         else:
-          self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}")
+          assert translation.text is not None, f"Ensure translation is completed: {source_text}"
 
           source_args = FORMAT_ARG.findall(source_text)
           translation_args = FORMAT_ARG.findall(translation.text)
-          self.assertEqual(sorted(source_args), sorted(translation_args),
+          assert sorted(source_args) == sorted(translation_args), \
-                           f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`")
+                           f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`"
 
   def test_no_locations(self):
     for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
-      self.assertFalse(line.strip().startswith(LOCATION_TAG),
+      assert not line.strip().startswith(LOCATION_TAG), \
-                       f"Line contains location tag: {line.strip()}, remove all line numbers.")
+                       f"Line contains location tag: {line.strip()}, remove all line numbers."
 
   def test_entities_error(self):
     cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
     matches = re.findall(r'@(\w+);', cur_translations)
-    self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+    assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'"
 
   def test_bad_language(self):
     IGNORED_WORDS = {'pédale'}
@@ -128,7 +128,3 @@ class TestTranslations(unittest.TestCase):
         words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
         bad_words_found = words & (banned_words - IGNORED_WORDS)
         assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/ui/tests/test_ui/run.py

@@ -8,9 +8,7 @@ import numpy as np
 import os
 import pywinctl
 import time
-import unittest
 
-from parameterized import parameterized
 from cereal import messaging, car, log
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 
@@ -122,16 +120,11 @@ TEST_OUTPUT_DIR = TEST_DIR / "report"
 SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
 
 
-class TestUI(unittest.TestCase):
+class TestUI:
-  @classmethod
+  def __init__(self):
-  def setUpClass(cls):
     os.environ["SCALE"] = "1"
     sys.modules["mouseinfo"] = False
 
-  @classmethod
-  def tearDownClass(cls):
-    del sys.modules["mouseinfo"]
-
   def setup(self):
     self.sm = SubMaster(["uiDebug"])
     self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman'])
@@ -147,8 +140,8 @@ class TestUI(unittest.TestCase):
   def screenshot(self):
     import pyautogui
     im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
-    self.assertEqual(im.width, 2160)
+    assert im.width == 2160
-    self.assertEqual(im.height, 1080)
+    assert im.height == 1080
     img = np.array(im)
     im.close()
     return img
@@ -158,7 +151,6 @@ class TestUI(unittest.TestCase):
     pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
     time.sleep(UI_DELAY) # give enough time for the UI to react
 
-  @parameterized.expand(CASES.items())
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
@@ -188,7 +180,10 @@ def create_screenshots():
     shutil.rmtree(TEST_OUTPUT_DIR)
 
   SCREENSHOTS_DIR.mkdir(parents=True)
-  unittest.main(exit=False)
+
+  t = TestUI()
+  for name, setup in CASES.items():
+    t.test_ui(name, setup)
 
 if __name__ == "__main__":
   print("creating test screenshots")

selfdrive/ui/translations/main_ko.ts

@@ -809,7 +809,7 @@ This may take up to a minute.</source>
     <name>Sidebar</name>
     <message>
         <source>CONNECT</source>
-        <translation>연결됨</translation>
+        <translation>커넥트</translation>
     </message>
     <message>
         <source>OFFLINE</source>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -299,11 +299,11 @@
     </message>
     <message>
         <source>Pair Device</source>
-        <translation type="unfinished"></translation>
+        <translation>配对设备</translation>
     </message>
     <message>
         <source>PAIR</source>
-        <translation type="unfinished"></translation>
+        <translation>配对</translation>
     </message>
 </context>
 <context>
@@ -487,23 +487,23 @@
     <name>OnroadAlerts</name>
     <message>
         <source>openpilot Unavailable</source>
-        <translation type="unfinished"></translation>
+        <translation>无法使用 openpilot</translation>
     </message>
     <message>
         <source>Waiting for controls to start</source>
-        <translation type="unfinished"></translation>
+        <translation>等待控制服务啟動</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
+        <translation>立即接管</translation>
     </message>
     <message>
         <source>Controls Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>控制服务无响应</translation>
     </message>
     <message>
         <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
+        <translation>重启设备</translation>
     </message>
 </context>
 <context>
@@ -628,7 +628,7 @@
     </message>
     <message>
         <source>now</source>
-        <translation type="unfinished"></translation>
+        <translation>现在</translation>
     </message>
 </context>
 <context>
@@ -1152,11 +1152,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>推荐使用标准模式。在积极模式下，openpilot 会更靠近前方车辆，并在油门和刹车方面更加激进。在放松模式下，openpilot 会与前方车辆保持更远距离。在支持的车型上，你可以使用方向盘上的距离按钮来循环切换这些驾驶风格。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>在低速时，驾驶可视化将转换为道路朝向的广角摄像头，以更好地展示某些转弯。测试模式标志也将显示在右上角。</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -247,11 +247,11 @@
     </message>
     <message>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重設的情況。</translation>
+        <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
+        <translation> 你的裝置目前朝%2 %1° 以及朝%4 %3° 。</translation>
     </message>
     <message>
         <source>down</source>
@@ -295,15 +295,15 @@
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
+        <translation>將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
     </message>
     <message>
         <source>Pair Device</source>
-        <translation type="unfinished"></translation>
+        <translation>配對裝置</translation>
     </message>
     <message>
         <source>PAIR</source>
-        <translation type="unfinished"></translation>
+        <translation>配對</translation>
     </message>
 </context>
 <context>
@@ -437,11 +437,11 @@
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>一個給您設備的操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。</translation>
+        <translation>一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。</translation>
     </message>
     <message>
         <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation>設備註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方設備，請訪問 https://comma.ai/support 。</translation>
+        <translation>裝置註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方裝置，請訪問 https://comma.ai/support 。</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
@@ -449,7 +449,7 @@
     </message>
     <message>
         <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>檢測到不支援的 NVMe 固態硬碟。您的設備因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。</translation>
+        <translation>檢測到不支援的 NVMe 固態硬碟。您的裝置因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
@@ -461,11 +461,11 @@
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>
+        <translation>openpilot 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>設備溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
+        <translation>裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
     </message>
 </context>
 <context>
@@ -487,30 +487,30 @@
     <name>OnroadAlerts</name>
     <message>
         <source>openpilot Unavailable</source>
-        <translation type="unfinished"></translation>
+        <translation>無法使用 openpilot</translation>
     </message>
     <message>
         <source>Waiting for controls to start</source>
-        <translation type="unfinished"></translation>
+        <translation>等待操控服務開始</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
+        <translation>立即接管</translation>
     </message>
     <message>
         <source>Controls Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>操控服務沒有反應</translation>
     </message>
     <message>
         <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
+        <translation>請重新啟裝置</translation>
     </message>
 </context>
 <context>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>將設備與您的 comma 帳號配對</translation>
+        <translation>將裝置與您的 comma 帳號配對</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -628,7 +628,7 @@
     </message>
     <message>
         <source>now</source>
-        <translation type="unfinished"></translation>
+        <translation>現在</translation>
     </message>
 </context>
 <context>
@@ -639,7 +639,7 @@
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>您確定要重設你的設備嗎？</translation>
+        <translation>您確定要重設你的裝置嗎？</translation>
     </message>
     <message>
         <source>System Reset</source>
@@ -659,12 +659,12 @@
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。</translation>
+        <translation>無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重置。</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>設備重設中…
+        <translation>重置中…
 這可能需要一分鐘的時間。</translation>
     </message>
     <message>
@@ -680,7 +680,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Device</source>
-        <translation>設備</translation>
+        <translation>裝置</translation>
     </message>
     <message>
         <source>Network</source>
@@ -755,7 +755,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。</translation>
+        <translation>請確定您輸入的是有效的安裝網址，並且確定裝置的網路連線狀態良好。</translation>
     </message>
     <message>
         <source>Reboot device</source>
@@ -771,7 +771,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation>發生了一些錯誤。請重新啟動您的設備。</translation>
+        <translation>發生了一些錯誤。請重新啟動您的裝置。</translation>
     </message>
     <message>
         <source>Select a language</source>
@@ -798,11 +798,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
+        <translation>將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
     </message>
     <message>
         <source>Pair device</source>
-        <translation>配對設備</translation>
+        <translation>配對裝置</translation>
     </message>
 </context>
 <context>
@@ -1152,11 +1152,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>建議使用標準模式。在積極模式下，openpilot 會更接近前車並更積極地使用油門和剎車。在輕鬆模式下，openpilot 會與前車保持較遠距離。對於支援的汽車，您可以使用方向盤上的距離按鈕來切換這些駕駛風格。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>在低速時，駕駛可視化將切換至道路朝向的廣角攝影機，以更好地顯示某些彎道。在右上角還會顯示「實驗模式」的標誌。</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
@@ -1175,7 +1175,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。</translation>
+        <translation>需要進行作業系統更新。建議將您的裝置連接上 Wi-Fi 獲得更快的更新下載。下載大小約為 1GB。</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>

selfdrive/ui/ui.cc

@@ -205,6 +205,8 @@ static void update_state(UIState *s) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
+  } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
+    scene.light_sensor = -1;
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 
@@ -320,7 +322,7 @@ void Device::resetInteractiveTimeout(int timeout) {
 
 void Device::updateBrightness(const UIState &s) {
   float clipped_brightness = offroad_brightness;
-  if (s.scene.started) {
+  if (s.scene.started && s.scene.light_sensor > 0) {
     clipped_brightness = s.scene.light_sensor;
 
     // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm

selfdrive/ui/ui.h

@@ -97,7 +97,7 @@ typedef struct UIScene {
 
   cereal::LongitudinalPersonality personality;
 
-  float light_sensor;
+  float light_sensor = -1;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;

selfdrive/updated/tests/test_base.py

@@ -6,9 +6,6 @@ import stat
 import subprocess
 import tempfile
 import time
-import unittest
-from unittest import mock
-
 import pytest
 
 from openpilot.common.params import Params
@@ -52,13 +49,13 @@ def get_version(path: str) -> str:
 
 
 @pytest.mark.slow # TODO: can we test overlayfs in GHA?
-class BaseUpdateTest(unittest.TestCase):
+class TestBaseUpdate:
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     if "Base" in cls.__name__:
-      raise unittest.SkipTest
+      pytest.skip()
 
-  def setUp(self):
+  def setup_method(self):
     self.tmpdir = tempfile.mkdtemp()
 
     run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs
@@ -76,8 +73,6 @@ class BaseUpdateTest(unittest.TestCase):
     self.remote_dir = self.mock_update_path / "remote"
     self.remote_dir.mkdir()
 
-    mock.patch("openpilot.common.basedir.BASEDIR", self.basedir).start()
-
     os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root)
     os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
 
@@ -86,6 +81,10 @@ class BaseUpdateTest(unittest.TestCase):
       "master": ("0.1.3", "1.2", "0.1.3 release notes"),
     }
 
+  @pytest.fixture(autouse=True)
+  def mock_basedir(self, mocker):
+    mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir)
+
   def set_target_branch(self, branch):
     self.params.put("UpdaterTargetBranch", branch)
 
@@ -102,8 +101,7 @@ class BaseUpdateTest(unittest.TestCase):
   def additional_context(self):
     raise NotImplementedError("")
 
-  def tearDown(self):
+  def teardown_method(self):
-    mock.patch.stopall()
     try:
       run(["sudo", "umount", "-l", str(self.staging_root / "merged")])
       run(["sudo", "umount", "-l", self.tmpdir])
@@ -125,17 +123,17 @@ class BaseUpdateTest(unittest.TestCase):
       time.sleep(1)
 
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    self.assertEqual(get_version(str(self.staging_root / "finalized")), version)
+    assert get_version(str(self.staging_root / "finalized")) == version
-    self.assertEqual(get_consistent_flag(str(self.staging_root / "finalized")), True)
+    assert get_consistent_flag(str(self.staging_root / "finalized"))
-    self.assertTrue(os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK))
+    assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK)
 
     with open(self.staging_root / "finalized" / "test_symlink") as f:
-      self.assertIn(version, f.read())
+      assert version in f.read()
 
-class ParamsBaseUpdateTest(BaseUpdateTest):
+class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}"))
+    assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
-    self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"<p>{release_notes}</p>\n")
+    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"<p>{release_notes}</p>\n"
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
@@ -145,9 +143,9 @@ class ParamsBaseUpdateTest(BaseUpdateTest):
     updated.signal(signal.SIGHUP.value)
 
   def _test_params(self, branch, fetch_available, update_available):
-    self.assertEqual(self.params.get("UpdaterTargetBranch", encoding="utf-8"), branch)
+    assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch
-    self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
+    assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available
-    self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
+    assert self.params.get_bool("UpdateAvailable") == update_available
 
   def wait_for_idle(self):
     self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle")
@@ -229,17 +227,16 @@ class ParamsBaseUpdateTest(BaseUpdateTest):
       self._test_params("master", False, True)
       self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
 
-  def test_agnos_update(self):
+  def test_agnos_update(self, mocker):
     # Start on release3, push an update with an agnos change
     self.setup_remote_release("release3")
     self.setup_basedir_release("release3")
 
-    with self.additional_context(), \
+    with self.additional_context(), processes_context(["updated"]) as [updated]:
-        mock.patch("openpilot.system.hardware.AGNOS", "True"), \
+      mocker.patch("openpilot.system.hardware.AGNOS", "True")
-        mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
+      mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2")
-        mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
+      mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number")
-        mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
+      mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update")
-          processes_context(["updated"]) as [updated]:
 
       self._test_params("release3", False, False)
       self.wait_for_idle()

system/camerad/test/test_exposure.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import time
-import unittest
 import numpy as np
 
 from openpilot.selfdrive.test.helpers import with_processes, phone_only
@@ -9,9 +8,9 @@ from openpilot.system.camerad.snapshot.snapshot import get_snapshots
 TEST_TIME = 45
 REPEAT = 5
 
-class TestCamerad(unittest.TestCase):
+class TestCamerad:
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     pass
 
   def _numpy_rgb2gray(self, im):
@@ -49,7 +48,4 @@ class TestCamerad(unittest.TestCase):
 
       passed += int(res)
       time.sleep(2)
-    self.assertGreaterEqual(passed, REPEAT)
+    assert passed >= REPEAT
-
-if __name__ == "__main__":
-  unittest.main()

system/hardware/tici/tests/test_agnos_updater.py

@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
 import json
 import os
-import unittest
 import requests
 
 TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
 MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
 
 
-class TestAgnosUpdater(unittest.TestCase):
+class TestAgnosUpdater:
 
   def test_manifest(self):
     with open(MANIFEST) as f:
@@ -17,10 +16,6 @@ class TestAgnosUpdater(unittest.TestCase):
     for img in m:
       r = requests.head(img['url'], timeout=10)
       r.raise_for_status()
-      self.assertEqual(r.headers['Content-Type'], "application/x-xz")
+      assert r.headers['Content-Type'] == "application/x-xz"
       if not img['sparse']:
         assert img['hash'] == img['hash_raw']
-
-
-if __name__ == "__main__":
-  unittest.main()

system/hardware/tici/tests/test_amplifier.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import random
-import unittest
 import subprocess
 
 from panda import Panda
@@ -10,14 +10,14 @@ from openpilot.system.hardware.tici.hardware import Tici
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
 
-class TestAmplifier(unittest.TestCase):
+class TestAmplifier:
 
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     if not TICI:
-      raise unittest.SkipTest
+      pytest.skip()
 
-  def setUp(self):
+  def setup_method(self):
     # clear dmesg
     subprocess.check_call("sudo dmesg -C", shell=True)
 
@@ -25,7 +25,7 @@ class TestAmplifier(unittest.TestCase):
     Panda.wait_for_panda(None, 30)
     self.panda = Panda()
 
-  def tearDown(self):
+  def teardown_method(self):
     HARDWARE.reset_internal_panda()
 
   def _check_for_i2c_errors(self, expected):
@@ -68,8 +68,4 @@ class TestAmplifier(unittest.TestCase):
       if self._check_for_i2c_errors(True):
         break
     else:
-      self.fail("didn't hit any i2c errors")
+      pytest.fail("didn't hit any i2c errors")
-
-
-if __name__ == "__main__":
-  unittest.main()