Merge remote-tracking branch 'upstream/master' into 10hz-pandaStates

.github/workflows/prebuilt.yaml

@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
@@ -29,5 +29,5 @@ jobs:
         submodules: true
     - name: Build and Push docker image
       run: |
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
         eval "$BUILD"

.github/workflows/selfdrive_tests.yaml

@@ -16,7 +16,8 @@ env:
   CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }}
   BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
@@ -76,6 +77,11 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    # login only on arm machines, due to buildjet rate limits
+    - name: Setup docker
+      if: contains(runner.name, 'buildjet')
+      run: |
+        $DOCKER_HUB_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
         cache_key_prefix: scons_${{ matrix.arch }}
@@ -190,7 +196,12 @@ jobs:
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
+    # login only on arm machines, due to buildjet rate limits
+    - name: Additional setup for buildjet
+      if: contains(runner.name, 'buildjet')
+      run: |
+        $DOCKER_HUB_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
         git-lfs: false
@@ -211,7 +222,7 @@ jobs:
         submodules: false
     - name: Setup docker
       run: |
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
     - name: Merge x64 and arm64 tags
       run: |
         export PUSH_IMAGE=true
@@ -264,7 +275,6 @@ jobs:
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \

.github/workflows/tools_tests.yaml

@@ -13,7 +13,7 @@ concurrency:
 env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: selfdrive/test/docker_build.sh base
 
@@ -58,7 +58,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
     - name: Build and push sim image
       run: |
         selfdrive/test/docker_build.sh sim
@@ -78,7 +78,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
     - name: Build and push docs image
       run: |
         selfdrive/test/docker_build.sh docs

.pre-commit-config.yaml

@@ -38,7 +38,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.287
+    rev: v0.0.288
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'

README.md

@@ -39,13 +39,17 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
+1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
-* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
+  
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
-* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+  To install the release version of openpilot, use the URL `openpilot.comma.ai`.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
+  To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
-
+
-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
+  If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
+  
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+  We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
 
 Running on PC
 ------

RELEASES.md

@@ -1,7 +1,9 @@
 Version 0.9.5 (202X-XX-XX)
 ========================
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 

SConstruct

@@ -244,18 +244,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-# TODO: this can probably be removed
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@@ -337,34 +325,35 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
+Export('env', 'qt_env', 'arch', 'real_arch')
 
+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-if SHARED:
+common = [_common, 'json11']
-  common, gpucommon = abspath(common), abspath(gpucommon)
+gpucommon = [_gpucommon]
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# cereal and messaging are shared with the system
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-if SHARED:
+
-  cereal = abspath([File('cereal/libcereal_shared.so')])
+cereal = [File('#cereal/libcereal.a')]
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
+messaging = [File('#cereal/libmessaging.a')]
-else:
+visionipc = [File('#cereal/libvisionipc.a')]
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
 messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
 Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
-# Build rednose library and ekf models
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
+# Build rednose library and ekf models
 rednose_deps = [
   "#selfdrive/locationd/models/constants.py",
   "#selfdrive/locationd/models/gnss_helpers.py",
@@ -406,15 +395,6 @@ if arch != "Darwin":
   ])
 
 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])

common/SConscript

@@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
+Import('env', 'envCython', 'arch')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
 
 common_libs = [
   'params.cc',
@@ -18,13 +13,13 @@ common_libs = [
 if arch != "Darwin":
   common_libs.append('gpio.cc')
 
-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
 ]
 
-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')
 
 if GetOption('extras'):

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 260 Supported Cars
+# 262 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@@ -119,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

opendbc

@@ -1 +1 @@
-Subproject commit 8d2f614ce3f323c65de802b2d5f29143de9c427b
+Subproject commit 4ab347baefb7473771ada0723c969c50d0c28d01

panda

@@ -1 +1 @@
-Subproject commit 8e8aa5acf6ab0e45d91e72beaab74e69810448cd
+Subproject commit f6603239690ccee80f19e8bc5cf3ba03123f3498

poetry.lock

@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -1595,13 +1595,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.27"
+version = "2.5.28"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.5.27-py2.py3-none-any.whl", hash = "sha256:fdb527b2dfe24602809b2201e033c2a113d7bdf716db3ca8e3243f735dcecaba"},
+    {file = "identify-2.5.28-py2.py3-none-any.whl", hash = "sha256:87816de144bf46d161bd5b3e8f5596b16cade3b80be537087334b26bc5c177f3"},
-    {file = "identify-2.5.27.tar.gz", hash = "sha256:287b75b04a0e22d727bc9a41f0d4f3c1bcada97490fa6eabb5b28f0e9097e733"},
+    {file = "identify-2.5.28.tar.gz", hash = "sha256:94bb59643083ebd60dc996d043497479ee554381fbc5307763915cda49b0e78f"},
 ]
 
 [package.extras]
@@ -2144,6 +2144,16 @@ files = [
     {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"},
     {file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
     {file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
+    {file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:f698de3fd0c4e6972b92290a45bd9b1536bffe8c6759c62471efaa8acb4c37bc"},
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+    {file = "matplotlib-3.7.3-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7153453669c9672b52095119fd21dd032d19225d48413a2871519b17db4b0fde"},
+    {file = "matplotlib-3.7.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:498a08267dc69dd8f24c4b5d7423fa584d7ce0027ba71f7881df05fc09b89bb7"},
+    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:d48999c4b19b5a0c058c9cd828ff6fc7748390679f6cf9a2ad653a3e802c87d3"},
+    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:22d65d18b4ee8070a5fea5761d59293f1f9e2fac37ec9ce090463b0e629432fd"},
+    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9c40cde976c36693cc0767e27cf5f443f91c23520060bd9496678364adfafe9c"},
+    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:39018a2b17592448fbfdf4b8352955e6c3905359939791d4ff429296494d1a0c"},
+    {file = "matplotlib-3.7.3.tar.gz", hash = "sha256:f09b3dd6bdeb588de91f853bbb2d6f0ff8ab693485b0c49035eaa510cb4f142e"},
 ]
 
 [package.dependencies]
@@ -2231,11 +2247,12 @@ contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
 kiwisolver = ">=1.0.1"
-numpy = ">=1.20"
+numpy = ">=1.20,<2"
 packaging = ">=20.0"
 pillow = ">=6.2.0"
-pyparsing = ">=2.3.1,<3.1"
+pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
+setuptools_scm = ">=7"
 
 [[package]]
 name = "mdit-py-plugins"
@@ -2766,14 +2783,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
-    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
 
 [[package]]
 name = "opencv-python-headless"
@@ -2792,14 +2802,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
-    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
 
 [[package]]
 name = "packaging"
@@ -3623,13 +3626,13 @@ test = ["flaky", "pretend", "pytest (>=3.0.1)"]
 
 [[package]]
 name = "pyparsing"
-version = "3.0.9"
+version = "3.1.1"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.6.8"
 files = [
-    {file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
+    {file = "pyparsing-3.1.1-py3-none-any.whl", hash = "sha256:32c7c0b711493c72ff18a981d24f28aaf9c1fb7ed5e9667c9e84e3db623bdbfb"},
-    {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
+    {file = "pyparsing-3.1.1.tar.gz", hash = "sha256:ede28a1a32462f5a9705e07aea48001a08f7cf81a021585011deba701581a0db"},
 ]
 
 [package.extras]
@@ -3949,6 +3952,7 @@ files = [
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
+    {file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"},
     {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
     {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
     {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
@@ -3956,8 +3960,15 @@ files = [
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     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
+    {file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
     {file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
+    {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
+    {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
+    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
+    {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
+    {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
+    {file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
     {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
@@ -3974,6 +3985,7 @@ files = [
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0cd17c15d3bb3fa06978b4e8958dcdc6e0174ccea823003a106c7d4d7899ac5"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28c119d996beec18c05208a8bd78cbe4007878c6dd15091efb73a30e90539696"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
+    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
     {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
     {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
     {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@@ -3981,6 +3993,7 @@ files = [
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
+    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
     {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
     {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
     {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@@ -4171,9 +4184,9 @@ setuptools = "*"
 [[package]]
 name = "sconscontrib"
 version = "1.0"
-description = ""
+description = "Contributed builders and other useful logic for the SCons build system.,"
 optional = false
-python-versions = ">=3.6, <4"
+python-versions = "<4,>=3.6"
 files = []
 develop = false
 
@@ -4338,19 +4351,39 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "68.2.0"
+version = "68.2.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-68.2.0-py3-none-any.whl", hash = "sha256:af3d5949030c3f493f550876b2fd1dd5ec66689c4ee5d5344f009746f71fd5a8"},
+    {file = "setuptools-68.2.1-py3-none-any.whl", hash = "sha256:eff96148eb336377ab11beee0c73ed84f1709a40c0b870298b0d058828761bae"},
-    {file = "setuptools-68.2.0.tar.gz", hash = "sha256:00478ca80aeebeecb2f288d3206b0de568df5cd2b8fada1209843cc9a8d88a48"},
+    {file = "setuptools-68.2.1.tar.gz", hash = "sha256:56ee14884fd8d0cd015411f4a13f40b4356775a0aefd9ebc1d3bfb9a1acb32f1"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
 testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
+[[package]]
+name = "setuptools-scm"
+version = "7.1.0"
+description = "the blessed package to manage your versions by scm tags"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
+    {file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
+]
+
+[package.dependencies]
+packaging = ">=20.0"
+setuptools = "*"
+typing-extensions = "*"
+
+[package.extras]
+test = ["pytest (>=6.2)", "virtualenv (>20)"]
+toml = ["setuptools (>=42)"]
 
 [[package]]
 name = "shapely"
@@ -4899,13 +4932,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.24.4"
+version = "20.24.5"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.24.4-py3-none-any.whl", hash = "sha256:29c70bb9b88510f6414ac3e55c8b413a1f96239b6b789ca123437d5e892190cb"},
+    {file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"},
-    {file = "virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"},
+    {file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"},
 ]
 
 [package.dependencies]
@@ -4919,13 +4952,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "websocket-client"
-version = "1.6.2"
+version = "1.6.3"
 description = "WebSocket client for Python with low level API options"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"},
+    {file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"},
-    {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"},
+    {file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"},
 ]
 
 [package.extras]

selfdrive/car/gm/carstate.py

@@ -98,7 +98,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -135,7 +135,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("VehicleIgnitionAlt", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),

selfdrive/car/hyundai/hyundaican.py

@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                         CAR.AZERA_6TH_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -64,7 +64,11 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+    if candidate == CAR.AZERA_6TH_GEN:
+      ret.mass = 1540.  # average
+      ret.wheelbase = 2.885
+      ret.steerRatio = 14.5
+    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.mass = 3982. * CV.LB_TO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
@@ -211,6 +215,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2087.
       ret.wheelbase = 3.09
       ret.steerRatio = 14.23
+    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
+      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
+      ret.wheelbase = 2.895
+      ret.steerRatio = 13.27  # guesstimate from K5 platform
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:

selfdrive/car/hyundai/values.py

@@ -69,6 +69,7 @@ class HyundaiFlags(IntFlag):
 
 class CAR:
   # Hyundai
+  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
@@ -104,6 +105,7 @@ class CAR:
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
+  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -152,6 +154,7 @@ class HyundaiCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.ELANTRA: [
     HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -217,6 +220,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -523,6 +527,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -1940,6 +1961,14 @@ FW_VERSIONS = {
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
     ],
   },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1961,7 +1990,7 @@ CAN_GEARS = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
@@ -1974,7 +2003,7 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_K8_HEV_1ST_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
@@ -1990,6 +2019,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
+  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@@ -2050,4 +2080,5 @@ DBC = {
   CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/tests/routes.py

@@ -25,7 +25,6 @@ non_tested_cars = [
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   TOYOTA.RAV4_TSS2_2023,
-  TOYOTA.RAV4H_TSS2_2023,
   SUBARU.FORESTER_HYBRID,
 ]
 
@@ -94,6 +93,7 @@ routes = [
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
@@ -146,6 +146,7 @@ routes = [
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
+  CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
@@ -182,6 +183,7 @@ routes = [
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023),
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),

selfdrive/car/tests/test_models.py

@@ -9,6 +9,7 @@ from parameterized import parameterized_class
 
 from cereal import log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
@@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
@@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName
 from panda.tests.libpanda import libpanda_py
 from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
+EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
@@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -315,6 +320,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
+    controlsd = Controls(CI=self.CI)
+    controlsd.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -359,7 +366,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        button_enable = any(evt.enable for evt in CS.events)
+        controlsd.update_events(CS)
+        controlsd.CS_prev = CS
+        button_enable = (any(evt.enable for evt in CS.events) and
+                         not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()

selfdrive/car/torque_data/override.yaml

@@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan]
 SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
 SUBARU ASCENT 2023: [.nan, 3.0, .nan]
 
-# Toyota LTA also has torque
-TOYOTA RAV4 2023: [.nan, 3.0, .nan]
-TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
-
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
@@ -59,6 +55,10 @@ LEXUS IS 2023: [2.0, 2.0, 0.1]
 KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
+HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
+KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
+TOYOTA RAV4 2023: [2.5, 2.5, 0.1]
+TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/toyota/interface.py

@@ -27,7 +27,15 @@ class CarInterface(CarInterfaceBase):
     if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
-    if candidate in ANGLE_CONTROL_CAR:
+    # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan)
+    # So far only hybrid RAV4 2023 has been seen with this FW version
+    angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw)
+    if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023):
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+      ret.steerLimitTimer = 0.4
+    else:
       ret.dashcamOnly = True
       ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@@ -35,11 +43,6 @@ class CarInterface(CarInterfaceBase):
       # LTA control can be more delayed and winds up more often
       ret.steerActuatorDelay = 0.25
       ret.steerLimitTimer = 0.8
-    else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-      ret.steerLimitTimer = 0.4
 
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
@@ -121,21 +124,25 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG  # Average between ICE and Hybrid
-      ret.lateralTuning.init('pid')
+
-      ret.lateralTuning.pid.kiBP = [0.0]
+      # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same
-      ret.lateralTuning.pid.kpBP = [0.0]
+      # TODO: revisit this disparity if there is a divide for 2023
-      ret.lateralTuning.pid.kpV = [0.6]
+      if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
-      ret.lateralTuning.pid.kiV = [0.1]
+        ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00007818594
+        ret.lateralTuning.pid.kiBP = [0.0]
-
+        ret.lateralTuning.pid.kpBP = [0.0]
-      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+        ret.lateralTuning.pid.kpV = [0.6]
-      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
+        ret.lateralTuning.pid.kiV = [0.1]
-      for fw in car_fw:
+        ret.lateralTuning.pid.kf = 0.00007818594
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+
-          ret.lateralTuning.pid.kpV = [0.15]
+        # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-          ret.lateralTuning.pid.kiV = [0.05]
+        # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-          ret.lateralTuning.pid.kf = 0.00004
+        for fw in car_fw:
-          break
+          if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+            ret.lateralTuning.pid.kpV = [0.15]
+            ret.lateralTuning.pid.kiV = [0.05]
+            ret.lateralTuning.pid.kf = 0.00004
+            break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback

selfdrive/car/toyota/values.py

@@ -2389,7 +2389,8 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
-# these cars use the Lane Tracing Assist (LTA) message for lateral control
+# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require
+# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected
 ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
 
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,

selfdrive/locationd/SConscript

@@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
 lenv = env.Clone()
 lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
 locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
-lenv.Depends(locationd, libkf)
+lenv.Depends(locationd, libkf)
-
-if File("liblocationd.cc").exists():
-  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)

selfdrive/locationd/liblocationd.cc

@@ -1,41 +0,0 @@
-#include "selfdrive/locationd/locationd.h"
-
-extern "C" {
-  typedef Localizer* Localizer_t;
-
-  Localizer *localizer_init(bool has_ublox) {
-    return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
-  }
-
-  void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
-                                   char *buff, size_t buff_size) {
-    MessageBuilder msg_builder;
-    kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
-    assert(buff_size >= arr.size());
-    memcpy(buff, arr.begin(), arr.size());
-  }
-
-  void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
-    localizer->handle_msg_bytes(data, size);
-  }
-
-  void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
-    Eigen::VectorXd state = localizer->get_state();
-    memcpy(state_buff, state.data(), sizeof(double) * state.size());
-    Eigen::VectorXd stdev = localizer->get_stdev();
-    memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
-  }
-
-  bool is_gps_ok(Localizer *localizer){
-    return localizer->is_gps_ok();
-  }
-
-  bool are_inputs_ok(Localizer *localizer){
-    return localizer->are_inputs_ok();
-  }
-
-  void observation_timings_invalid_reset(Localizer *localizer){
-    localizer->observation_timings_invalid_reset();
-  }
-
-}

selfdrive/locationd/test/_test_locationd_lib.py

@@ -1,109 +0,0 @@
-#!/usr/bin/env python3
-"""This test can't be run together with other locationd tests.
-cffi.dlopen breaks the list of registered filters."""
-import os
-import random
-import unittest
-
-from cffi import FFI
-
-import cereal.messaging as messaging
-from cereal import log
-
-from openpilot.common.ffi_wrapper import suffix
-
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init(bool has_ublox);
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init(True) # default to ublox
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
-      return log_evt
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
-if __name__ == "__main__":
-  unittest.main()
-

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -0,0 +1,223 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from collections import defaultdict
+from enum import Enum
+
+
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
+
+TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4
+GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
+SELECT_COMPARE_FIELDS = {
+  'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
+  'roll': ['orientationNED', 'value', 0],
+  'gps_flag': ['gpsOK'],
+  'inputs_flag': ['inputsOK'],
+  'sensors_flag': ['sensorsOK'],
+}
+JUNK_IDX = 100
+
+
+class Scenario(Enum):
+  BASE = 'base'
+  GPS_OFF = 'gps_off'
+  GPS_OFF_MIDWAY = 'gps_off_midway'
+  GPS_ON_MIDWAY = 'gps_on_midway'
+  GPS_TUNNEL = 'gps_tunnel'
+  GYRO_OFF = 'gyro_off'
+  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  ACCEL_OFF = 'accel_off'
+  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+
+
+def get_select_fields_data(logs):
+  def get_nested_keys(msg, keys):
+    val = None
+    for key in keys:
+      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+    return val
+  llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman']
+  data = defaultdict(list)
+  for msg in llk:
+    for key, fields in SELECT_COMPARE_FIELDS.items():
+      data[key].append(get_nested_keys(msg, fields))
+  for key in data:
+    data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+  return data
+
+
+def run_scenarios(scenario):
+  logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
+  if scenario == Scenario.BASE:
+    pass
+
+  elif scenario == Scenario.GPS_OFF:
+    logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_OFF_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_ON_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_TUNNEL:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_OFF:
+    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
+    gyro = [x for x in logs if x.which() in 'gyroscope']
+    temp = gyro[len(gyro) // 2].as_builder()
+    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
+    gyro[len(gyro) // 2] = temp.as_reader()
+    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_OFF:
+    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+    non_accel = [x for x in logs if x.which() not in 'accelerometer']
+    accel = [x for x in logs if x.which() in 'accelerometer']
+    temp = accel[len(accel) // 2].as_builder()
+    temp.accelerometer.acceleration.v[0] += 10.0
+    accel[len(accel) // 2] = temp.as_reader()
+    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
+
+  replayed_logs = replay_process_with_name(name='locationd', lr=logs)
+  return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
+
+
+class TestLocationdScenarios(unittest.TestCase):
+  """
+  Test locationd with different scenarios. In all these scenarios, we expect the following:
+    - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
+    - faulty values should be ignored, with appropriate flags set
+  """
+  def test_base(self):
+    """
+    Test: unchanged log
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.BASE)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+  def test_gps_off(self):
+    """
+    Test: no GPS message for the entire segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
+
+  def test_gps_off_midway(self):
+    """
+    Test: no GPS message for the second half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: True for the first half, False for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
+
+  def test_gps_on_midway(self):
+    """
+    Test: no GPS message for the first half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the first half, True for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
+
+  def test_gps_tunnel(self):
+    """
+    Test: no GPS message for the middle section of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the middle section, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0)
+
+  def test_gyro_off(self):
+    """
+    Test: no gyroscope message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.GYRO_OFF)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_gyro_spikes(self):
+    """
+    Test: a gyroscope spike in the middle of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+      - inputsOK: False for some time after the spike, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0)
+
+  def test_accel_off(self):
+    """
+    Test: no accelerometer message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.ACCEL_OFF)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_accel_spikes(self):
+    """
+    ToDo:
+    Test: an accelerometer spike in the middle of the segment
+    Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+
+if __name__ == "__main__":
+  unittest.main()

tools/cabana/binaryview.cc

@@ -280,7 +280,7 @@ void BinaryViewModel::refresh() {
   updateState();
 }
 
-void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) {
+void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
   auto &item = items[row * column_count + col];
   if (item.val != val || item.bg_color != color) {
     item.val = val;
@@ -307,7 +307,7 @@ void BinaryViewModel::updateState() {
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0";
+      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
       // Bit update frequency based highlighting
       double offset = !item.sigs.empty() ? 50 : 0;
       auto n = last_msg.bit_change_counts[i][7 - j];
@@ -317,7 +317,7 @@ void BinaryViewModel::updateState() {
       color.setAlpha(alpha);
       updateItem(i, j, val, color);
     }
-    updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]);
+    updateItem(i, 8, binary[i], last_msg.colors[i]);
   }
 }
 
@@ -348,6 +348,13 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa
   small_font.setPixelSize(8);
   hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   hex_font.setBold(true);
+
+  bin_text_table[0].setText("0");
+  bin_text_table[1].setText("1");
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, hex_font);
+  }
 }
 
 bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const {
@@ -392,7 +399,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
   } else if (!item->valid) {
     painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
   }
-  painter->drawText(option.rect, Qt::AlignCenter, item->val);
+  if (item->valid) {
+    utils::drawStaticText(painter, option.rect, index.column() == 8 ? hex_text_table[item->val] : bin_text_table[item->val]);
+  }
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);
     painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L");

tools/cabana/binaryview.h

@@ -19,6 +19,8 @@ public:
   void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;
 
   QFont small_font, hex_font;
+  std::array<QStaticText, 256> hex_text_table;
+  std::array<QStaticText, 2> bin_text_table;
 };
 
 class BinaryViewModel : public QAbstractTableModel {
@@ -26,7 +28,7 @@ public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
   void refresh();
   void updateState();
-  void updateItem(int row, int col, const QString &val, const QColor &color);
+  void updateItem(int row, int col, uint8_t val, const QColor &color);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
@@ -42,7 +44,7 @@ public:
     QColor bg_color = QColor(102, 86, 169, 255);
     bool is_msb = false;
     bool is_lsb = false;
-    QString val;
+    uint8_t val;
     QList<const cabana::Signal *> sigs;
     bool valid = false;
   };

tools/cabana/chart/chart.cc

@@ -14,6 +14,7 @@
 #include <QMimeData>
 #include <QOpenGLWidget>
 #include <QPropertyAnimation>
+#include <QRandomGenerator>
 #include <QRubberBand>
 #include <QScreen>
 #include <QtMath>
@@ -25,7 +26,8 @@
 const int AXIS_X_TOP_MARGIN = 4;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
-ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
+    : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
   series_type = (SeriesType)settings.chart_series_type;
   QChart *chart = new QChart();
   chart->setBackgroundVisible(false);
@@ -150,6 +152,11 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
+    for (const auto &s : sigs) {
+      if (s.sig == sig && s.series->color() != sig->color) {
+        setSeriesColor(s.series, sig->color);
+      }
+    }
     updateTitle();
     updateSeries(sig);
   }
@@ -280,7 +287,6 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
         s.step_vals.clear();
         s.last_value_mono_time = 0;
       }
-      s.series->setColor(s.sig->color);
 
       const auto &msgs = can->events(s.msg_id);
       s.vals.reserve(msgs.capacity());
@@ -668,6 +674,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
 
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   drawTimeline(painter);
+  drawSignalValue(painter);
   // draw track points
   painter->setPen(Qt::NoPen);
   qreal track_line_x = -1;
@@ -718,23 +725,24 @@ void ChartView::drawRubberBandTimeRange(QPainter *painter) {
 
 void ChartView::drawTimeline(QPainter *painter) {
   const auto plot_area = chart()->plotArea();
-  // draw line
+  // draw vertical time line
   qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
   painter->setPen(QPen(chart()->titleBrush().color(), 2));
   painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});
 
-  // draw current time
+  // draw current time under the axis-x
   QString time_str = QString::number(cur_sec, 'f', 2);
   QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
-  QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
   QPainterPath path;
   path.addRoundedRect(time_str_rect, 3, 3);
   painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
   painter->setPen(palette().color(QPalette::BrightText));
   painter->setFont(axis_x->labelsFont());
   painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+}
 
-  // draw signal value
+void ChartView::drawSignalValue(QPainter *painter) {
   auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
   assert(item_group != nullptr);
   auto legend_markers = item_group->childItems();
@@ -786,6 +794,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
 }
 
 void ChartView::addSeries(QXYSeries *series) {
+  setSeriesColor(series, series->color());
   chart()->addSeries(series);
   series->attachAxis(axis_x);
   series->attachAxis(axis_y);
@@ -798,6 +807,21 @@ void ChartView::addSeries(QXYSeries *series) {
   }
 }
 
+void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
+  auto existing_series = chart()->series();
+  for (auto s : existing_series) {
+    if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
+      // use different color to distinguish it from others.
+      auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
+                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
+                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
+      break;
+    }
+  }
+  series->setColor(color);
+}
+
 void ChartView::setSeriesType(SeriesType type) {
   if (type != series_type) {
     series_type = type;

tools/cabana/chart/chart.h

@@ -83,11 +83,13 @@ private:
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
   void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawSignalValue(QPainter *painter);
   void drawTimeline(QPainter *painter);
   void drawRubberBandTimeRange(QPainter *painter);
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);
+  void setSeriesColor(QXYSeries *, QColor color);
   void updateSeriesPoints();
   void removeIf(std::function<bool(const SigItem &)> predicate);
   inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }

tools/cabana/chart/chartswidget.cc

@@ -277,6 +277,10 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart();
       src_chart->chart()->removeSeries(it->series);
+
+      // Restore to the original color
+      it->series->setColor(it->sig->color);
+
       c->addSeries(it->series);
       c->sigs.push_back(*it);
       c->updateAxisY();
@@ -285,6 +289,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     }
     src_chart->updateAxisY();
     src_chart->updateTitle();
+    QTimer::singleShot(0, src_chart, &ChartView::resetChartCache);
   }
 }
 

tools/cabana/commands.cc

@@ -4,11 +4,13 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent)
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
-    : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) {
+                               const QString &node, const QString &comment, QUndoCommand *parent)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
+    old_node = msg->transmitter;
     old_comment = msg->comment;
     setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
   } else {
@@ -20,11 +22,11 @@ void EditMsgCommand::undo() {
   if (old_name.isEmpty())
     dbc()->removeMsg(id);
   else
-    dbc()->updateMsg(id, old_name, old_size, old_comment);
+    dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
 }
 
 void EditMsgCommand::redo() {
-  dbc()->updateMsg(id, new_name, new_size, new_comment);
+  dbc()->updateMsg(id, new_name, new_size, new_node, new_comment);
 }
 
 // RemoveMsgCommand
@@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) :
 
 void RemoveMsgCommand::undo() {
   if (!message.name.isEmpty()) {
-    dbc()->updateMsg(id, message.name, message.size, message.comment);
+    dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
   }
@@ -64,7 +66,7 @@ void AddSigCommand::undo() {
 void AddSigCommand::redo() {
   if (auto msg = dbc()->msg(id); !msg) {
     msg_created = true;
-    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", "");
   }
   signal.name = dbc()->newSignalName(id);
   signal.max = std::pow(2, signal.size) - 1;

tools/cabana/commands.h

@@ -10,13 +10,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
+                 const QString &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment;
+  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 

tools/cabana/dbc/dbc.cc

@@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() {
 }
 
 void cabana::Msg::update() {
+  if (transmitter.isEmpty()) {
+    transmitter = DEFAULT_NODE_NAME;
+  }
   mask.assign(size, 0x00);
   multiplexor = nullptr;
 
@@ -125,6 +128,9 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
+  if (receiver_name.isEmpty()) {
+    receiver_name = DEFAULT_NODE_NAME;
+  }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);

tools/cabana/dbc/dbc.h

@@ -13,6 +13,7 @@
 #include "opendbc/can/common_dbc.h"
 
 const QString UNTITLED = "untitled";
+const QString DEFAULT_NODE_NAME = "XXX";
 
 struct MessageId {
   uint8_t source = 0;

tools/cabana/dbc/dbcfile.cc

@@ -60,11 +60,12 @@ bool DBCFile::writeContents(const QString &fn) {
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
+  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -198,7 +199,8 @@ void DBCFile::parse(const QString &content) {
 QString DBCFile::generateDBC() {
   QString dbc_string, signal_comment, message_comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
+    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
     if (!m.comment.isEmpty()) {
       message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
     }
@@ -221,7 +223,7 @@ QString DBCFile::generateDBC() {
                         .arg(doubleToString(sig->min))
                         .arg(doubleToString(sig->max))
                         .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
+                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }

tools/cabana/dbc/dbcfile.h

@@ -22,7 +22,7 @@ public:
   void cleanupAutoSaveFile();
   QString generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }

tools/cabana/dbc/dbcmanager.cc

@@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
-  dbc_file->updateMsg(id, name, size, comment);
+  dbc_file->updateMsg(id, name, size, node, comment);
   emit msgUpdated(id);
 }
 

tools/cabana/dbc/dbcmanager.h

@@ -28,7 +28,7 @@ public:
   void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
   void removeSignal(const MessageId &id, const QString &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   void removeMsg(const MessageId &id);
 
   QString newMsgName(const MessageId &id);

tools/cabana/detailwidget.cc

@@ -2,7 +2,6 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QMessageBox>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -135,11 +134,12 @@ void DetailWidget::refresh() {
     for (auto s : binary_view->getOverlappingSignals()) {
       warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
     }
+    name_label->setText(QString("%1 (%2)").arg(msgName(msg_id), msg->transmitter));
   } else {
     warnings.push_back(tr("Drag-Select in binary view to create new signal."));
+    name_label->setText(msgName(msg_id));
   }
   remove_btn->setEnabled(msg != nullptr);
-  name_label->setText(msgName(msg_id));
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -164,8 +164,8 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
   EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
-                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
+                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
   }
 }
 
@@ -182,25 +182,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 
   form_layout->addRow("", error_label = new QLabel);
   error_label->setVisible(false);
-  name_edit = new QLineEdit(title, this);
+  form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this));
   name_edit->setValidator(new NameValidator(name_edit));
-  form_layout->addRow(tr("Name"), name_edit);
 
-  size_spin = new QSpinBox(this);
+  form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
   // TODO: limit the maximum?
   size_spin->setMinimum(1);
   size_spin->setValue(size);
-  form_layout->addRow(tr("Size"), size_spin);
 
+  form_layout->addRow(tr("Node"), node = new QLineEdit(this));
+  node->setValidator(new NameValidator(name_edit));
   form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
+
   if (auto msg = dbc()->msg(msg_id)) {
+    node->setText(msg->transmitter);
     comment_edit->setText(msg->comment);
   }
-
-  btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   validateName(name_edit->text());
-  form_layout->addRow(btn_box);
-
   setFixedWidth(parent->width() * 0.9);
   connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
   connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);

tools/cabana/detailwidget.h

@@ -21,6 +21,7 @@ public:
   QString original_name;
   QDialogButtonBox *btn_box;
   QLineEdit *name_edit;
+  QLineEdit *node;
   QTextEdit *comment_edit;
   QLabel *error_label;
   QSpinBox *size_spin;

tools/cabana/mainwin.cc

@@ -439,11 +439,11 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
     updateLoadSaveMenus();
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
     saveFileAs(dbc_file);
   }
-  UndoStack::instance()->setClean();
-  statusBar()->showMessage(tr("File saved"), 2000);
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
@@ -451,6 +451,8 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn);
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
     updateLoadSaveMenus();
   }
@@ -606,7 +608,13 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();
-  settings.save();
+
+  auto status = settings.save();
+  if (status == QSettings::AccessError) {
+    QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath());
+    qDebug() << error;
+    QMessageBox::warning(this, tr("Failed to write settings"), error);
+  }
   QWidget::closeEvent(event);
 }
 

tools/cabana/settings.cc

@@ -6,14 +6,13 @@
 #include <QFileDialog>
 #include <QFormLayout>
 #include <QPushButton>
-#include <QSettings>
 #include <QStandardPaths>
 
 #include "tools/cabana/util.h"
 
 Settings settings;
 
-void Settings::save() {
+QSettings::Status Settings::save() {
   QSettings s(filePath(), QSettings::IniFormat);
   s.setValue("fps", fps);
   s.setValue("max_cached_minutes", max_cached_minutes);
@@ -35,6 +34,8 @@ void Settings::save() {
   s.setValue("log_path", log_path);
   s.setValue("drag_direction", drag_direction);
   s.setValue("suppress_defined_signals", suppress_defined_signals);
+  s.sync();
+  return s.status();
 }
 
 void Settings::load() {

tools/cabana/settings.h

@@ -7,6 +7,7 @@
 #include <QDialog>
 #include <QGroupBox>
 #include <QLineEdit>
+#include <QSettings>
 #include <QSpinBox>
 
 #define LIGHT_THEME 1
@@ -24,7 +25,7 @@ public:
   };
 
   Settings() {}
-  void save();
+  QSettings::Status save();
   void load();
   inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; }
 

tools/cabana/signalview.cc

@@ -36,7 +36,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
+  QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
                    "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
   for (int i = 0; i < std::size(titles); ++i) {
     item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
@@ -134,6 +134,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
           case Item::Sig: return item->sig_val;
           case Item::Name: return item->sig->name;
           case Item::Size: return item->sig->size;
+          case Item::Node: return item->sig->receiver_name;
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
           case Item::Offset: return doubleToString(item->sig->offset);
@@ -172,6 +173,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   switch (item->type) {
     case Item::Name: s.name = value.toString(); break;
     case Item::Size: s.size = value.toInt(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
@@ -195,11 +197,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) {
   if (item->type == Item::ExtraInfo) {
     if (!item->parent->extra_expanded) {
       item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), 7, 13);
+      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endInsertRows();
     } else {
       item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), 7, 13);
+      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endRemoveRows();
     }
   }
@@ -267,6 +269,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
 
 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
+  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
   double_validator = new DoubleValidator(this);
 
   label_font.setPointSize(8);
@@ -382,12 +385,14 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
-  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset ||
       item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
       item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
     QLineEdit *e = new QLineEdit(parent);
     e->setFrame(false);
-    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
+    if (item->type == SignalModel::Item::Name) e->setValidator(name_validator);
+    else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
+    else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
       QCompleter *completer = new QCompleter(dbc()->signalNames());
@@ -395,7 +400,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
     }
-
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);

tools/cabana/signalview.h

@@ -17,7 +17,7 @@ class SignalModel : public QAbstractItemModel {
   Q_OBJECT
 public:
   struct Item {
-    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
     ~Item() { qDeleteAll(children); }
     inline int row() { return parent->children.indexOf(this); }
 
@@ -87,7 +87,7 @@ public:
   void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
 
-  QValidator *name_validator, *double_validator;
+  QValidator *name_validator, *double_validator, *node_validator;
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;

tools/cabana/streams/abstractstream.h

@@ -30,7 +30,7 @@ struct CanData {
   std::vector<std::array<uint32_t, 8>> bit_change_counts;
   std::vector<int> last_delta;
   std::vector<int> same_delta_counter;
-  double last_freq_update_ts = seconds_since_boot();
+  double last_freq_update_ts = 0;
 };
 
 struct CanEvent {

tools/cabana/util.cc

@@ -1,7 +1,6 @@
 #include "tools/cabana/util.h"
 
 #include <algorithm>
-#include <array>
 #include <csignal>
 #include <limits>
 #include <memory>
@@ -56,6 +55,10 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
 MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
   fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, fixed_font);
+  }
 }
 
 int MessageBytesDelegate::widthForBytes(int n) const {
@@ -107,7 +110,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
     } else if (option.state & QStyle::State_Selected) {
       painter->setPen(option.palette.color(QPalette::HighlightedText));
     }
-    painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
+    utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]);
   }
   painter->setFont(old_font);
   painter->setPen(old_pen);

tools/cabana/util.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <array>
 #include <cmath>
 #include <deque>
 #include <vector>
@@ -10,8 +11,10 @@
 #include <QDateTime>
 #include <QDoubleValidator>
 #include <QFont>
+#include <QPainter>
 #include <QRegExpValidator>
 #include <QSocketNotifier>
+#include <QStaticText>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
@@ -75,6 +78,7 @@ public:
   int widthForBytes(int n) const;
 
 private:
+  std::array<QStaticText, 256> hex_text_table;
   QFont fixed_font;
   QSize byte_size = {};
   bool multiple_lines = false;
@@ -102,6 +106,10 @@ void setTheme(int theme);
 inline QString formatSeconds(int seconds) {
   return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
+inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
+  auto size = (r.size() - text.size()) / 2;
+  p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
+}
 }
 
 class ToolButton : public QToolButton {

tools/lib/auth_config.py

@@ -13,9 +13,6 @@ if PC:
 else:
   CONFIG_DIR = "/tmp/.comma"
 
-mkdirs_exists_ok(CONFIG_DIR)
-
-
 def get_token():
   try:
     with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
@@ -26,9 +23,13 @@ def get_token():
 
 
 def set_token(token):
+  mkdirs_exists_ok(CONFIG_DIR)
   with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f:
     json.dump({'access_token': token}, f)
 
 
 def clear_token():
-  os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  try:
+    os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  except FileNotFoundError:
+    pass

tools/lib/cache.py

@@ -2,10 +2,10 @@ import os
 import urllib.parse
 from openpilot.common.file_helpers import mkdirs_exists_ok
 
-DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
+DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache"))
 
-def cache_path_for_file_path(fn, cache_prefix=None):
+def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR):
-  dir_ = os.path.join(DEFAULT_CACHE_DIR, "local")
+  dir_ = os.path.join(cache_dir, "local")
   mkdirs_exists_ok(dir_)
   fn_parsed = urllib.parse.urlparse(fn)
   if fn_parsed.scheme == '':

tools/lib/framereader.py

@@ -12,7 +12,7 @@ import numpy as np
 from lru import LRU
 
 import _io
-from openpilot.tools.lib.cache import cache_path_for_file_path
+from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
 from openpilot.tools.lib.exceptions import DataUnreadableError
 from openpilot.common.file_helpers import atomic_write_in_dir
 
@@ -106,8 +106,8 @@ def cache_fn(func):
     if kwargs.pop('no_cache', None):
       cache_path = None
     else:
-      cache_prefix = kwargs.pop('cache_prefix', None)
+      cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR)
-      cache_path = cache_path_for_file_path(fn, cache_prefix)
+      cache_path = cache_path_for_file_path(fn, cache_dir)
 
     if cache_path and os.path.exists(cache_path):
       with open(cache_path, "rb") as cache_file:
@@ -140,18 +140,18 @@ def index_stream(fn, typ):
   }
 
 
-def index_videos(camera_paths, cache_prefix=None):
+def index_videos(camera_paths, cache_dir=DEFAULT_CACHE_DIR):
   """Requires that paths in camera_paths are contiguous and of the same type."""
   if len(camera_paths) < 1:
     raise ValueError("must provide at least one video to index")
 
   frame_type = fingerprint_video(camera_paths[0])
   for fn in camera_paths:
-    index_video(fn, frame_type, cache_prefix)
+    index_video(fn, frame_type, cache_dir)
 
 
-def index_video(fn, frame_type=None, cache_prefix=None):
+def index_video(fn, frame_type=None, cache_dir=DEFAULT_CACHE_DIR):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
+  cache_path = cache_path_for_file_path(fn, cache_dir)
 
   if os.path.exists(cache_path):
     return
@@ -160,16 +160,16 @@ def index_video(fn, frame_type=None, cache_prefix=None):
     frame_type = fingerprint_video(fn[0])
 
   if frame_type == FrameType.h265_stream:
-    index_stream(fn, "hevc", cache_prefix=cache_prefix)
+    index_stream(fn, "hevc", cache_dir=cache_dir)
   else:
     raise NotImplementedError("Only h265 supported")
 
 
-def get_video_index(fn, frame_type, cache_prefix=None):
+def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
+  cache_path = cache_path_for_file_path(fn, cache_dir)
 
   if not os.path.exists(cache_path):
-    index_video(fn, frame_type, cache_prefix)
+    index_video(fn, frame_type, cache_dir)
 
   if not os.path.exists(cache_path):
     return None
@@ -284,13 +284,13 @@ class BaseFrameReader:
     raise NotImplementedError
 
 
-def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None):
+def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None):
   frame_type = fingerprint_video(fn)
   if frame_type == FrameType.raw:
     return RawFrameReader(fn)
   elif frame_type in (FrameType.h265_stream,):
     if not index_data:
-      index_data = get_video_index(fn, frame_type, cache_prefix)
+      index_data = get_video_index(fn, frame_type, cache_dir)
     return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
   else:
     raise NotImplementedError(frame_type)

tools/replay/tests/test_replay.cc

@@ -12,7 +12,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
 
-bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
+bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
   do {
     if (httpDownload(url, local_file, chunk_size)) {
       return true;
@@ -29,7 +29,7 @@ TEST_CASE("httpMultiPartDownload") {
   const size_t chunk_size = 5 * 1024 * 1024;
   std::string content;
   SECTION("download to file") {
-    REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size));
+    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
     content = util::read_file(filename);
   }
   SECTION("download to buffer") {
@@ -110,23 +110,36 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
   loop.exec();
 }
 
-TEST_CASE("Route") {
+std::string download_demo_route() {
-  // Create a local route from remote for testing
+  static std::string data_dir;
-  Route remote_route(DEMO_ROUTE);
+
-  REQUIRE(remote_route.load());
+  if (data_dir == "") {
-  char tmp_path[] = "/tmp/root_XXXXXX";
+    char tmp_path[] = "/tmp/root_XXXXXX";
-  const std::string data_dir = mkdtemp(tmp_path);
+    data_dir = mkdtemp(tmp_path);
-  const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
+
-  for (int i = 0; i < 2; ++i) {
+    Route remote_route(DEMO_ROUTE);
-    std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
+    assert(remote_route.load());
-    util::create_directories(log_path, 0755);
+
-    REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
+    // Create a local route from remote for testing
-    REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
+    const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
-    REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
+    for (int i = 0; i < 2; ++i) {
-    REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
+      std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
-    REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+      util::create_directories(log_path, 0755);
+      REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
+      REQUIRE(download_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+    }
   }
 
+  return data_dir;
+}
+
+
+TEST_CASE("Route") {
+  std::string data_dir = download_demo_route();
+
   SECTION("Local route") {
     auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
     Route route(DEMO_ROUTE, QString::fromStdString(data_dir));

tools/sim/launch_openpilot.sh

@@ -12,5 +12,8 @@ if [[ "$CI" ]]; then
   export BLOCK="${BLOCK},ui"
 fi
 
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd ../../selfdrive/manager && exec ./manager.py
+cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py