Merge branch 'master' into ffmodel

2 months ago · 4421510e98
parent a26dc46003 ec81e78c54
commit 4421510e98
43 changed files with 269 additions and 462 deletions
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -51,4 +51,4 @@ jobs:
    - name: Push master-ci
      run: |
        unset TARGET_DIR
-        BRANCH=master-ci release/build_devel.sh
+        BRANCH=__nightly release/build_devel.sh
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@ -5,7 +5,33 @@ on:
    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
  workflow_dispatch:

+env:
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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/bash -c
+
 jobs:
+  update_translations:
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Update translations
+        run: |
+          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: Vehicle Researcher <user@comma.ai>
+          commit-message: "Update translations"
+          title: "[bot] Update translations"
+          body: "Automatic PR from repo-maintenance -> update_translations"
+          branch: "update-translations"
+          base: "master"
+          delete-branch: true
+          labels: bot
+
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@ -84,7 +84,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
          A=($scenes)

          DIFF=""
--- a/.gitignore
+++ b/.gitignore
@ -36,6 +36,7 @@ a.out
 *.pyxbldc
 *.vcd
 *.qm
+*_pyx.cpp
 config.json
 clcache
 compile_commands.json
--- a/8
+++ b/8
@ -166,7 +166,7 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
                         'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

@ -183,7 +183,7 @@ node {
      ])
    }

-    if (env.BRANCH_NAME == 'master-ci') {
+    if (env.BRANCH_NAME == '__nightly') {
      parallel (
        'nightly': {
          deviceStage("build nightly", "tici-needs-can", [], [
@ -203,8 +203,6 @@ node {
      // tici tests
      'onroad tests': {
        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
-          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
-          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
          step("build openpilot", "cd system/manager && ./build.py"),
          step("check dirty", "release/check-dirty.sh"),
          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
@ -240,7 +238,6 @@ node {
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
-      /*
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
@ -248,7 +245,6 @@ node {
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
-      */
      'sensord': {
        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,7 @@
+Version 0.9.9 (2025-04-XX)
+========================
+* Tesla Model 3 and Y support thanks to lukasloetkolben!
+
 Version 0.9.8 (2025-02-28)
 ========================
 * New driving model
@ -8,6 +12,7 @@ Version 0.9.8 (2025-02-28)
  * More GPU time for bigger driving models
  * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Localizer rewritten to remove GPS dependency at runtime
 * Firehose Mode for maximizing your training data uploads
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -151,6 +151,10 @@ struct InitData {
  gitBranch @11 :Text;
  gitRemote @13 :Text;

+  # this is source commit for prebuilt branches
+  gitSrcCommit @23 :Text;
+  gitSrcCommitDate @24 :Text;
+
  androidProperties @16 :Map(Text, Text);

  pandaInfo @8 :PandaInfo;
--- a/common/util.cc
+++ b/common/util.cc
@ -257,7 +257,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {

 std::string strip(const std::string &str) {
  auto should_trim = [](unsigned char ch) {
-    // trim whitespace or a null character
    return std::isspace(ch) || ch == '\0';
  };

--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.9.8"
+#define COMMA_VERSION "0.9.9"
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -312,7 +312,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||

 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@ -16,7 +16,7 @@ a [learned simulator](https://youtu.be/EqQNZXqzFSI).
 * Always-on driver monitoring (behind a toggle)
 * GPS removed from the driving stack
 * 100KB qlogs
-* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
+* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
 * Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
 * openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)

--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@ -1,13 +1,9 @@
 #!/usr/bin/env bash

-if [ -z "$BASEDIR" ]; then
-  BASEDIR="/data/openpilot"
-fi
-
-source "$BASEDIR/launch_env.sh"
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

+source "$DIR/launch_env.sh"
+
 function agnos_init {
  # TODO: move this to agnos
  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
--- a/launch_env.sh
+++ b/launch_env.sh
@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.8"
+  export AGNOS_VERSION="11.9"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b5f6d5c4982131c3a28acd7f9db7548ef1fb1414
+Subproject commit bc839875bd0ca476be71dea2cbebc92a4544c40c
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit a744fa778010b4689cc01f3bcf803b4becb80c22
+Subproject commit 2c802449fd51d9904ca265d06b7a5f9969057ae3
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@ -19,15 +19,15 @@ cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
 pre-commit uninstall || true

-echo "[-] bringing master-ci and devel in sync T=$SECONDS"
+echo "[-] bringing __nightly and devel in sync T=$SECONDS"
 cd $TARGET_DIR

-git fetch --depth 1 origin master-ci
+git fetch --depth 1 origin __nightly
 git fetch --depth 1 origin devel

-git checkout -f --track origin/master-ci
-git reset --hard master-ci
-git checkout master-ci
+git checkout -f --track origin/__nightly
+git reset --hard __nightly
+git checkout __nightly
 git reset --hard origin/devel
 git clean -xdff
 git lfs uninstall
@ -51,9 +51,13 @@ rm -f panda/board/obj/panda.bin.signed

 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
 VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')

+echo -n "$GIT_HASH" > git_src_commit
+echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
+
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git status
@ -81,7 +85,7 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin master-ci:$BRANCH
+  git push -f origin __nightly:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
--- a/selfdrive/modeld/.gitignore
+++ b/selfdrive/modeld/.gitignore
@ -1 +0,0 @@
-*_pyx.cpp
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-exec "$DIR/dmonitoringmodeld.py" "$@"
--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-exec "$DIR/modeld.py" "$@"
--- a/selfdrive/modeld/tests/dmon_lag/repro.cc
+++ b/selfdrive/modeld/tests/dmon_lag/repro.cc
@ -1,101 +0,0 @@
-// clang++ -O2 repro.cc && ./a.out
-
-#include <sched.h>
-#include <sys/types.h>
-#include <unistd.h>
-
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ctime>
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-#define MODEL_WIDTH 320
-#define MODEL_HEIGHT 640
-
-// null function still breaks it
-#define input_lambda(x) x
-
-// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
-void inner(uint8_t *resized_buf, float *net_input_buf) {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  // one shot conversion, O(n) anyway
-  // yuvframe2tensor, normalize
-  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
-    for (int c = 0; c < MODEL_WIDTH/2; c++) {
-      // Y_ul
-      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
-      // Y_ur
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
-      // Y_dl
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
-      // Y_dr
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
-      // U
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
-      // V
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
-    }
-  }
-}
-
-float trial() {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-
-  // allocate the buffers
-  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
-  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
-  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
-
-  // test for bad buffers
-  static int CNT = 20;
-  float avg = 0.0;
-  for (int i = 0; i < CNT; i++) {
-    double s4 = millis_since_boot();
-    inner(resized_buf, net_input_buf);
-    double s5 = millis_since_boot();
-    avg += s5-s4;
-  }
-  avg /= CNT;
-
-  // once it's bad, it's reliably bad
-  if (avg > 10) {
-    printf("HIT %f\n", avg);
-    printf("BAD\n");
-
-    for (int i = 0; i < 200; i++) {
-      double s4 = millis_since_boot();
-      inner(resized_buf, net_input_buf);
-      double s5 = millis_since_boot();
-      printf("%.2f   ", s5-s4);
-    }
-    printf("\n");
-
-    exit(0);
-  }
-
-  // don't free so we get a different buffer each time
-  //free(resized_buf);
-  //free(net_input_buf);
-
-  return avg;
-}
-
-int main() {
-  while (true) {
-    float ret = trial();
-    printf("got %f\n", ret);
-  }
-}
-
--- a/selfdrive/modeld/tests/tf_test/build.sh
+++ b/selfdrive/modeld/tests/tf_test/build.sh
@ -1,2 +0,0 @@
-#!/usr/bin/env bash
-clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
--- a/selfdrive/modeld/tests/tf_test/main.cc
+++ b/selfdrive/modeld/tests/tf_test/main.cc
@ -1,69 +0,0 @@
-#include <cassert>
-#include <cstdio>
-#include <cstdlib>
-#include "tensorflow/c/c_api.h"
-
-void* read_file(const char* path, size_t* out_len) {
-  FILE* f = fopen(path, "r");
-  if (!f) {
-    return NULL;
-  }
-  fseek(f, 0, SEEK_END);
-  long f_len = ftell(f);
-  rewind(f);
-
-  char* buf = (char*)calloc(f_len, 1);
-  assert(buf);
-
-  size_t num_read = fread(buf, f_len, 1, f);
-  fclose(f);
-
-  if (num_read != 1) {
-    free(buf);
-    return NULL;
-  }
-
-  if (out_len) {
-    *out_len = f_len;
-  }
-
-  return buf;
-}
-
-static void DeallocateBuffer(void* data, size_t) {
-  free(data);
-}
-
-int main(int argc, char* argv[]) {
-  TF_Buffer* buf;
-  TF_Graph* graph;
-  TF_Status* status;
-  char *path = argv[1];
-
-  // load model
-  {
-    size_t model_size;
-    char tmp[1024];
-    snprintf(tmp, sizeof(tmp), "%s.pb", path);
-    printf("loading model %s\n", tmp);
-    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
-    buf = TF_NewBuffer();
-    buf->data = model_data;
-    buf->length = model_size;
-    buf->data_deallocator = DeallocateBuffer;
-    printf("loaded model of size %d\n", model_size);
-  }
-
-  // import graph
-  status = TF_NewStatus();
-  graph = TF_NewGraph();
-  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
-  TF_GraphImportGraphDef(graph, buf, opts, status);
-  TF_DeleteImportGraphDefOptions(opts);
-  TF_DeleteBuffer(buf);
-  if (TF_GetCode(status) != TF_OK) {
-    printf("FAIL: %s\n", TF_Message(status));
-  } else {
-    printf("SUCCESS\n");
-  }
-}
--- a/selfdrive/modeld/tests/tf_test/pb_loader.py
+++ b/selfdrive/modeld/tests/tf_test/pb_loader.py
@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import tensorflow as tf
-
-with open(sys.argv[1], "rb") as f:
-  graph_def = tf.compat.v1.GraphDef()
-  graph_def.ParseFromString(f.read())
-  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
--- a/selfdrive/modeld/tests/timing/benchmark.py
+++ b/selfdrive/modeld/tests/timing/benchmark.py
@ -1,39 +0,0 @@
-#!/usr/bin/env python3
-# type: ignore
-
-import os
-import time
-import numpy as np
-
-import cereal.messaging as messaging
-from openpilot.system.manager.process_config import managed_processes
-
-
-N = int(os.getenv("N", "5"))
-TIME = int(os.getenv("TIME", "30"))
-
-if __name__ == "__main__":
-  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
-
-  execution_times = []
-
-  for _ in range(N):
-    os.environ['LOGPRINT'] = 'debug'
-    managed_processes['modeld'].start()
-    time.sleep(5)
-
-    t = []
-    start = time.monotonic()
-    while time.monotonic() - start < TIME:
-      msgs = messaging.drain_sock(sock, wait_for_one=True)
-      for m in msgs:
-        t.append(m.modelV2.modelExecutionTime)
-
-    execution_times.append(np.array(t[10:]) * 1000)
-    managed_processes['modeld'].stop()
-
-  print("\n\n")
-  print(f"ran modeld {N} times for {TIME}s each")
-  for _, t in enumerate(execution_times):
-    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
-  print("\n\n")
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@ -26,6 +26,7 @@ from openpilot.system.version import get_build_metadata
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}

 ThermalStatus = log.DeviceState.ThermalStatus
@ -258,7 +259,7 @@ class SelfdriveD:
      if not_running != self.not_running_prev:
        cloudlog.event("process_not_running", not_running=not_running, error=True)
      self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and not_running:
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
      self.events.add(EventName.processNotRunning)
    else:
      if not SIMULATION and not self.rk.lagging:
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@ -40,12 +40,9 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v
 translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
 lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'

-lupdate = qt_env.Command(translation_sources + ["translations/alerts_generated.h"], qt_src + widgets_src, "selfdrive/ui/update_translations.py")
 lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES")
-qt_env.Depends(lrelease, lupdate)
 qt_env.NoClean(translation_sources)
 qt_env.Precious(translation_sources)
-qt_env.NoCache(lupdate)

 # create qrc file for compiled translations to include with assets
 translations_assets_src = "#selfdrive/assets/translations_assets.qrc"
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
  connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
    auto current = params.get("GitBranch");
    QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master"}) {
      auto i = branches.indexOf(b);
      if (i >= 0) {
        branches.removeAt(i);
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@ -2,14 +2,12 @@ import pytest
 import json
 import os
 import re
-import shutil
-import tempfile
 import xml.etree.ElementTree as ET
 import string
 import requests
 from parameterized import parameterized_class

-from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
+from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE

 with open(LANGUAGES_FILE) as f:
  translation_files = json.load(f)
@ -34,16 +32,6 @@ class TestTranslations:
    assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \
                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"

-  def test_translations_updated(self):
-    with tempfile.TemporaryDirectory() as tmpdir:
-      shutil.copytree(TRANSLATIONS_DIR, tmpdir, dirs_exist_ok=True)
-      update_translations(translation_files=[self.file], translations_dir=tmpdir)
-
-      cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-      new_translations = self._read_translation_file(tmpdir, self.file)
-      assert cur_translations == new_translations, \
-                       f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files"
-
  @pytest.mark.skip("Only test unfinished translations before going to release")
  def test_unfinished_translations(self):
    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@ -52,7 +52,7 @@ def setup_settings_software(click, pm: PubMaster):
  time.sleep(UI_DELAY)

 def setup_settings_firehose(click, pm: PubMaster):
-  click(278, 836)
+  click(1780, 730)

 def setup_settings_developer(click, pm: PubMaster):
  CP = car.CarParams()
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -309,17 +309,19 @@
    <name>FirehosePanel</name>
    <message>
        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 Firehoseモード 🔥</translation>
    </message>
    <message>
        <source>Enable Firehose Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Firehoseを有効にする</translation>
    </message>
    <message>
        <source>openpilot learns to drive by watching humans, like you, drive.

 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotは人間であるあなたの運転から学び、AI学習します。
+
+Firehoseモードを有効にすると、学習データを最大限アップロードし、openpilotの運転モデルを向上させることができます。より多くのデータはより大きなモデルを生み出し、Experimentalモードの精度向上につながります。</translation>
    </message>
    <message>
        <source>0%</source>
@ -327,7 +329,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
    </message>
    <message>
        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>以下の手順に従ってデバイスを準備してください:&lt;br&gt;	1. デバイスを室内に持ち込み、高速なUSB-C電源に接続してください&lt;br&gt;	2. Wi-Fiに接続してください&lt;br&gt;	3. 機能を有効にしてください&lt;br&gt;	4. 少なくとも30分間接続したままにしてください&lt;br&gt;&lt;br&gt;デバイスを再起動すると、この機能はオフになります。最大の効果を得るために、少なくとも週に1回は繰り返してください。&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;どのように運転するか、どこで運転するかは重要ですか？&lt;/i&gt; いいえ、普段通りに運転してください。&lt;br&gt;&lt;i&gt;高速なUSB-C電源とは何ですか？&lt;/i&gt; スマフォやノートPC用のワット数の大きい充電器を使って下さい。&lt;br&gt;&lt;i&gt;Wi-Fiに接続する必要がありますか？&lt;/i&gt; その通りです。&lt;br&gt;&lt;i&gt;デバイスを屋内に持ち込む必要がありますか？&lt;/i&gt; いいえ、駐車後に有効にすることができますが、アップロードは車のバッテリーによって制限されます。&lt;br&gt;</translation>
    </message>
 </context>
 <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>データ学習</translation>
    </message>
 </context>
 <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
    <name>WiFiPromptWidget</name>
    <message>
        <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>開く</translation>
    </message>
    <message>
        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotの運転モデルを改善するために、大容量の学習データをアップロードして下さい。</translation>
    </message>
    <message>
        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehoseモード &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -121,27 +121,27 @@
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
-        <translation>롱컨 기동 모드</translation>
+        <translation>롱컨 제어 모드</translation>
    </message>
    <message>
        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">openpilot 가감속 제어 (알파)</translation>
+        <translation>openpilot 가감속 제어 (알파)</translation>
    </message>
    <message>
        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
+        <translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
    </message>
    <message>
        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
+        <translation>이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
    </message>
    <message>
        <source>Enable ADB</source>
-        <translation type="unfinished"></translation>
+        <translation>ADB 사용</translation>
    </message>
    <message>
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation type="unfinished"></translation>
+        <translation>ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
    </message>
 </context>
 <context>
@ -309,25 +309,27 @@
    <name>FirehosePanel</name>
    <message>
        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 파이어호스 모드 🔥</translation>
    </message>
    <message>
        <source>Enable Firehose Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>파이어호스 모드 활성화</translation>
    </message>
    <message>
        <source>openpilot learns to drive by watching humans, like you, drive.

 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다.
+
+파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 나은 실험 모드를 갖춘 더 큰 모델을 의미합니다.</translation>
    </message>
    <message>
        <source>0%</source>
-        <translation type="unfinished">5G {0%?}</translation>
+        <translation>0%</translation>
    </message>
    <message>
        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>다음 단계에 따라 장치를 준비하세요.:&lt;br&gt;	1. 장치를 내부로 가져와 올바른 USB-C 어댑터에 연결하세요.&lt;br&gt; 2. Wi-Fi에 연결하세요.&lt;br&gt; 3. 토글을 활성화하세요.&lt;br&gt;	4. 최소 30분 동안 연결 상태로 두세요.&lt;br&gt;&lt;br&gt; 장치를 다시 시작하면 토글이 꺼집니다. 효과를 극대화하려면 적어도 일주일에 한 번씩 반복하세요.&lt;br&gt;&lt;br&gt;&lt;b&gt;자주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;i&gt;운전 방법이나 장소가 중요한가요?&lt;/i&gt; 아니요, 평소처럼 운전하세요.&lt;br&gt;&lt;i&gt;올바른 USB-C 어댑터란 무엇인가요?&lt;/i&gt; 휴대폰이나 노트북 고속 충전기라면 어떤 것이든 괜찮습니다.&lt;br&gt;&lt;i&gt;Wi-Fi에 연결되어 있어야 하나요?&lt;/i&gt; 예.&lt;br&gt;&lt;i&gt;장치를 차 안으로 가져와야 하나요?&lt;/i&gt; 아니요, 주차한 후에는 활성화할 수 있지만 차량의 배터리에 따라 업로드가 제한됩니다.&lt;br&gt;</translation>
    </message>
 </context>
 <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>파이어호스</translation>
    </message>
 </context>
 <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
    <name>WiFiPromptWidget</name>
    <message>
        <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>열기</translation>
    </message>
    <message>
        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요.</translation>
    </message>
    <message>
        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 파이어호스 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -309,25 +309,27 @@
    <name>FirehosePanel</name>
    <message>
        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 训练数据上传模式 🔥</translation>
    </message>
    <message>
        <source>Enable Firehose Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>启用训练数据上传模式</translation>
    </message>
    <message>
        <source>openpilot learns to drive by watching humans, like you, drive.

 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 通过观察人类（像你一样的驾驶）来学习驾驶。
+
+训练数据上传模式可让你最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据意味着更大的模型，并带来更优秀的实验模式。</translation>
    </message>
    <message>
        <source>0%</source>
-        <translation type="unfinished">5G {0%?}</translation>
+        <translation>0%</translation>
    </message>
    <message>
        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>按照以下步骤准备您的设备：&lt;br&gt;	1. 将设备带到室内并连接到良好的 USB-C 充电器&lt;br&gt;	2. 连接 Wi-Fi&lt;br&gt;	3. 启用开关&lt;br&gt;	4. 保持连接至少 30 分钟&lt;br&gt;&lt;br&gt;开关会在设备重新启动后自动关闭。请至少每周重复一次，以获得最佳效果。&lt;br&gt;&lt;br&gt;&lt;b&gt;常见问题&lt;/b&gt;&lt;br&gt;&lt;i&gt;驾驶方式或地点重要吗？&lt;/i&gt; 不，按照平常的方式驾驶即可。&lt;br&gt;&lt;i&gt;什么是良好的 USB-C 充电器？&lt;/i&gt; 任何快速手机或笔记本电脑充电器都可以。&lt;br&gt;&lt;i&gt;我需要连接 Wi-Fi 吗？&lt;/i&gt; 是的。&lt;br&gt;&lt;i&gt;我需要把设备带到室内吗？&lt;/i&gt; 不，您可以在停车后启用，但您的上传速度将受限于车辆的电池。&lt;br&gt;</translation>
    </message>
 </context>
 <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>训练上传</translation>
    </message>
 </context>
 <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
    <name>WiFiPromptWidget</name>
    <message>
        <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>开启</translation>
    </message>
    <message>
        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>最大化您的训练数据上传，以改善 openpilot 的驾驶模型。</translation>
    </message>
    <message>
        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 训练数据上传模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -309,25 +309,27 @@
    <name>FirehosePanel</name>
    <message>
        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 訓練資料上傳模式 🔥</translation>
    </message>
    <message>
        <source>Enable Firehose Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>啟用訓練資料上傳模式</translation>
    </message>
    <message>
        <source>openpilot learns to drive by watching humans, like you, drive.

 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 透過觀察人類（像你一樣的駕駛）來學習駕駛。
+
+訓練資料上傳模式可讓你最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據意味著更大的模型，並帶來更優秀的實驗模式。</translation>
    </message>
    <message>
        <source>0%</source>
-        <translation type="unfinished">5G {0%?}</translation>
+        <translation>0%</translation>
    </message>
    <message>
        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>按照以下步驟準備您的裝置：&lt;br&gt;	1. 將裝置帶到室內並連接到良好的 USB-C 充電器&lt;br&gt;	2. 連接 Wi-Fi&lt;br&gt;	3. 啟用開關&lt;br&gt;	4. 保持連接至少 30 分鐘&lt;br&gt;&lt;br&gt;開關會在裝置重新啟動後自動關閉。請至少每週重複一次，以獲得最佳效果。&lt;br&gt;&lt;br&gt;&lt;b&gt;常見問題&lt;/b&gt;&lt;br&gt;&lt;i&gt;駕駛方式或地點重要嗎？&lt;/i&gt; 不，按照平常的方式駕駛即可。&lt;br&gt;&lt;i&gt;什麼是良好的 USB-C 充電器？&lt;/i&gt; 任何快速手機或筆記本電腦充電器都可以。&lt;br&gt;&lt;i&gt;我需要連接 Wi-Fi 嗎？&lt;/i&gt; 是的。&lt;br&gt;&lt;i&gt;我需要把裝置帶到室內嗎？&lt;/i&gt; 不，您可以在停車後啟用，但您的上傳速度將受限於車輛的電池。&lt;br&gt;</translation>
    </message>
 </context>
 <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>訓練上傳</translation>
    </message>
 </context>
 <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
    <name>WiFiPromptWidget</name>
    <message>
        <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>開啟</translation>
    </message>
    <message>
        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>最大化您的訓練數據上傳，以改善 openpilot 的駕駛模型。</translation>
    </message>
    <message>
        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 訓練資料上傳模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
    </message>
 </context>
 <context>
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@ -249,13 +249,6 @@ SpectraCamera::~SpectraCamera() {
 }

 int SpectraCamera::clear_req_queue() {
-  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
-  req_mgr_flush_request.session_hdl = session_handle;
-  req_mgr_flush_request.link_hdl = link_handle;
-  req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
-  int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
-  LOGD("flushed all req: %d", ret);
-
  if (icp_dev_handle > 0) {
    struct cam_flush_dev_cmd cmd = {
      .session_handle = session_handle,
@ -264,8 +257,16 @@ int SpectraCamera::clear_req_queue() {
    };
    int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd));
    assert(err == 0);
+    LOGD("flushed bps: %d", err);
  }

+  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
+  req_mgr_flush_request.session_hdl = session_handle;
+  req_mgr_flush_request.link_hdl = link_handle;
+  req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
+  int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
+  LOGD("flushed all req: %d", ret);
+
  for (int i = 0; i < MAX_IFE_BUFS; ++i) {
    destroySyncObjectAt(i);
  }
@ -938,16 +939,15 @@ bool SpectraCamera::enqueue_buffer(int i, uint64_t request_id) {
      }
    }

-    // all good, hand off frame
    if (ret == 0) {
+      // all good, hand off frame
      frame_ready = true;
-    }
-
-    if (ret != 0) {
+      destroySyncObjectAt(i);
+    } else {
+      // need to start over on sync failures,
+      // otherwise future frames will tear
      clear_req_queue();
    }
-
-    destroySyncObjectAt(i);
  }

  // create output fences
@ -1378,14 +1378,14 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
    return false;
  }

-  if (!enabled) return false;
-
  // ID from the qcom camera request manager
  uint64_t request_id = event_data->u.frame_msg.request_id;

  // raw as opposed to our re-indexed frame ID
  uint64_t frame_id_raw = event_data->u.frame_msg.frame_id;

+  //LOGD("handle cam %d, request id %lu -> %lu, frame id raw %lu", cc.camera_num, request_id_last, request_id, frame_id_raw);
+
  if (request_id != 0) { // next ready
    // check for skipped_last frames
    if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) {
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@ -56,28 +56,28 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
-    "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
-    "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
+    "hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
+    "hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
    "size": 18475008,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
+    "ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
-    "hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39",
-    "hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img.xz",
+    "hash": "affcc08700026f1726ef16337e031fffc5556435b2b0facea81c7ffb0b66560c",
+    "hash_raw": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
    "size": 4404019200,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4",
+    "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf",
    "alt": {
-      "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img",
+      "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img",
      "size": 4404019200
    }
  }
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@ -339,62 +339,62 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
-    "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
-    "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
+    "hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
+    "hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
    "size": 18475008,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
+    "ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
-    "hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39",
-    "hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img.xz",
+    "hash": "affcc08700026f1726ef16337e031fffc5556435b2b0facea81c7ffb0b66560c",
+    "hash_raw": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
    "size": 4404019200,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4",
+    "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf",
    "alt": {
-      "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img",
+      "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img",
      "size": 4404019200
    }
  },
  {
    "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236.img.xz",
-    "hash": "4f0a862e3aff4980e697ece63afaef6f9869d013ac2ca4c45193e41089ee4f5c",
-    "hash_raw": "554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a.img.xz",
+    "hash": "b77b66ae8178519dbd72443ff7bdd21b97d0d4d76425472bedc7d369958de37b",
+    "hash_raw": "fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a",
    "size": 96636764160,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "5d780092d51c569e6b8a28ab73f4029bcc3517698f496af5801f863c9865060f"
+    "ondevice_hash": "52d2b8e2486e7fa0cdeb2a6512a8058db43544c905367a2e1b81a5ad4636d4b7"
  },
  {
    "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80.img.xz",
-    "hash": "ba49fef48573e9befdfb6334181753855cb83d3e1d8c6d4d83d510ea0141ec3f",
-    "hash_raw": "6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307.img.xz",
+    "hash": "cc24b1c78234f92cd8ef66541f3fb8924719fc4b7f42c26e26eb71ec21cd2e93",
+    "hash_raw": "1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307",
    "size": 95563022336,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "19b63b184063c25ff2fc9f1c8d1c919c140c3e1295ebac6cb66e64c5cb609abe"
+    "ondevice_hash": "80bf38b8b60ea1ef1fc0849af4e18bf114761f98f5371476e2f762d0f8463204"
  },
  {
    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe.img.xz",
-    "hash": "828d0911713af02de7fae4c583a2274783e344939f296c7c016866a8cf2cb63f",
-    "hash_raw": "498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6.img.xz",
+    "hash": "657b052cf6434ef19ff73bdeaf5b2511e5c42f64594ae37bac467a12b4cd673f",
+    "hash_raw": "6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6",
    "size": 32212254720,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92"
+    "ondevice_hash": "6437e5a5b7144103952950f2f59f8e70b98cd26ee5bfb06cbd0a13b2e2f343b7"
  }
 ]
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@ -50,6 +50,10 @@ kj::Array<capnp::word> logger_build_init_data() {
  init.setPassive(false);
  init.setDongleId(params_map["DongleId"]);

+  // for prebuilt branches
+  init.setGitSrcCommit(util::read_file("../../git_src_commit"));
+  init.setGitSrcCommitDate(util::read_file("../../git_src_commit_date"));
+
  auto lparams = init.initParams().initEntries(params_map.size());
  int j = 0;
  for (auto& [key, value] : params_map) {
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@ -64,6 +64,58 @@ struct RemoteEncoder {
  bool seen_first_packet = false;
 };

+size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
+  auto edata = (event.*(encoder_info.get_encode_data_func))();
+  auto idx = edata.getIdx();
+  auto flags = idx.getFlags();
+
+  // if we aren't recording yet, try to start, since we are in the correct segment
+  if (!re.recording) {
+    if (flags & V4L2_BUF_FLAG_KEYFRAME) {
+      // only create on iframe
+      if (re.dropped_frames) {
+        // this should only happen for the first segment, maybe
+        LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
+        re.dropped_frames = 0;
+      }
+      // if we aren't actually recording, don't create the writer
+      if (encoder_info.record) {
+        assert(encoder_info.filename != NULL);
+        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
+                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
+        // write the header
+        auto header = edata.getHeader();
+        re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
+      }
+      re.recording = true;
+    } else {
+      // this is a sad case when we aren't recording, but don't have an iframe
+      // nothing we can do but drop the frame
+      ++re.dropped_frames;
+      return 0;
+    }
+  }
+
+  // we have to be recording if we are here
+  assert(re.recording);
+
+  // if we are actually writing the video file, do so
+  if (re.writer) {
+    auto data = edata.getData();
+    re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof() / 1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
+  }
+
+  // put it in log stream as the idx packet
+  MessageBuilder bmsg;
+  auto evt = bmsg.initEvent(event.getValid());
+  evt.setLogMonoTime(event.getLogMonoTime());
+  (evt.*(encoder_info.set_encode_idx_func))(idx);
+  auto new_msg = bmsg.toBytes();
+  s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true);  // always in qlog?
+  return new_msg.size();
+}
+
 int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
  int bytes_count = 0;

@ -72,7 +124,6 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
  auto event = cmsg.getRoot<cereal::Event>();
  auto edata = (event.*(encoder_info.get_encode_data_func))();
  auto idx = edata.getIdx();
-  auto flags = idx.getFlags();

  // encoderd can have started long before loggerd
  if (!re.seen_first_packet) {
@ -95,61 +146,15 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
      re.marked_ready_to_rotate = false;
      // we are in this segment now, process any queued messages before this one
      if (!re.q.empty()) {
-        for (auto &qmsg : re.q) {
-          bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
+        for (auto qmsg : re.q) {
+          capnp::FlatArrayMessageReader reader({(capnp::word *)qmsg->getData(), qmsg->getSize() / sizeof(capnp::word)});
+          bytes_count += write_encode_data(s, reader.getRoot<cereal::Event>(), re, encoder_info);
+          delete qmsg;
        }
        re.q.clear();
      }
    }
-
-    // if we aren't recording yet, try to start, since we are in the correct segment
-    if (!re.recording) {
-      if (flags & V4L2_BUF_FLAG_KEYFRAME) {
-        // only create on iframe
-        if (re.dropped_frames) {
-          // this should only happen for the first segment, maybe
-          LOGW("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames);
-          re.dropped_frames = 0;
-        }
-        // if we aren't actually recording, don't create the writer
-        if (encoder_info.record) {
-          assert(encoder_info.filename != NULL);
-          re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
-            encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
-          // write the header
-          auto header = edata.getHeader();
-          re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
-        }
-        re.recording = true;
-      } else {
-        // this is a sad case when we aren't recording, but don't have an iframe
-        // nothing we can do but drop the frame
-        delete msg;
-        ++re.dropped_frames;
-        return bytes_count;
-      }
-    }
-
-    // we have to be recording if we are here
-    assert(re.recording);
-
-    // if we are actually writing the video file, do so
-    if (re.writer) {
-      auto data = edata.getData();
-      re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
-    }
-
-    // put it in log stream as the idx packet
-    MessageBuilder bmsg;
-    auto evt = bmsg.initEvent(event.getValid());
-    evt.setLogMonoTime(event.getLogMonoTime());
-    (evt.*(encoder_info.set_encode_idx_func))(idx);
-    auto new_msg = bmsg.toBytes();
-    s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
-    bytes_count += new_msg.size();
-
-    // free the message, we used it
+    bytes_count += write_encode_data(s, event, re, encoder_info);
    delete msg;
  } else if (offset_segment_num > s->logger.segment()) {
    // encoderd packet has a newer segment, this means encoderd has rolled over
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@ -75,10 +75,11 @@ procs = [
  PythonProcess("micd", "system.micd", iscar),
  PythonProcess("timed", "system.timed", always_run, enabled=not PC),

-  # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
-  # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  # TODO: Make python process once TG allows opening QCOM from child pro
+  # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld.py"], driverview, enabled=(WEBCAM or not PC)),
+
  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@ -75,7 +75,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl


 def process(can, lr):
-  return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
+  return [d for d in lr if can or d.which() not in ['can', 'sendcan'] and not d.which().startswith('customReserved')]


 def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@ -58,8 +58,8 @@ Mock openpilot components by publishing logged messages.

 Options:
  -h, --help             Displays this help.
-  -a, --allow <allow>    whitelist of services to send
-  -b, --block <block>    blacklist of services to send
+  -a, --allow <allow>    whitelist of services to send (comma-separated)
+  -b, --block <block>    blacklist of services to send (comma-separated)
  -c, --cache <n>        cache <n> segments in memory. default is 5
  -s, --start <seconds>  start from <seconds>
  -x <speed>             playback <speed>. between 0.2 - 3
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@ -11,10 +11,10 @@
 #include "tools/replay/util.h"

 const std::string helpText =
-R"(Usage: replay [options]
+R"(Usage: replay [options] [route]
 Options:
-  -a, --allow        Whitelist of services to send
-  -b, --block        Blacklist of services to send
+  -a, --allow        Whitelist of services to send (comma-separated)
+  -b, --block        Blacklist of services to send (comma-separated)
  -c, --cache        Cache <n> segments in memory. Default is 5
  -s, --start        Start from <seconds>
  -x, --playback     Playback <speed>
--- a/uv.lock
+++ b/uv.lock
@ -902,7 +902,7 @@ wheels = [

 [[package]]
 name = "matplotlib"
-version = "3.10.0"
+version = "3.10.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "contourpy" },
@ -915,20 +915,20 @@ dependencies = [
    { name = "pyparsing" },
    { name = "python-dateutil" },
 ]
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 [[package]]
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